Refine
Document Type
Language
- English (2)
Has full text
- no (2)
Is part of the Bibliography
- yes (2)
Institute
- Informatik (2)
Publisher
- Springer (2)
Autonomous navigation is one of the main areas of research in mobile robots and intelligent connected vehicles. In this context, we are interested in presenting a general view on robotics, the progress of research, and advanced methods related to this field to improve autonomous robots’ localization. We seek to evaluate algorithms and techniques that give robots the ability to move safely and autonomously in a complex and dynamic environment. Under these constraints, we focused our work in the paper on a specific problem: to evaluate a simple, fast and light SLAM algorithm that can minimize localization errors. We presented and validated a FastSLAM 2.0 system combining scan matching and loop closure detection. To allow the robot to perceive the environment and detect objects, we have studied one of the best deep learning technique using convolutional neural networks (CNN). We validate our testing using the YOLOv3 algorithm.
An autonomous vehicle is a robotic vehicle with decision and action capability capable of performing assigned tasks without or with minimal human intervention. Autonomous cars have been in development for many years. The Society of Automotive Engineers (SAE International) published in 2014 a classification in five levels of driving automation, with level 0 corresponding to completely manual driving, and level 5 to an ideal dream where the vehicle would be able to navigate entirely autonomously for all missions and in all environments. This work addressed the navigation of an autonomous vehicle in general. We focus on one of the most complex scenarios of the road network and crossing of road intersections. In this paper, the critical features of autonomous intelligent vehicles are reviewed. Furthermore, the associated problems are presented, and the most advanced solutions are derived. This article aims to allow a novice in this field to understand the different facets of localization and perception problems for autonomous vehicles.