E3S Web Conf.
Volume 95, 2019The 3rd International Conference on Power, Energy and Mechanical Engineering (ICPEME 2019)
|Number of page(s)||10|
|Section||Materials Science and Engineering|
|Published online||13 May 2019|
ROS-based localization of a race vehicle at high-speed using LIDAR
Chair of Automotive Technology, Technical University of Munich, Germany
2 Chair of Automatic Control, Technical University of Munich, Germany
An approach for LIDAR-based localization at high speeds is presented. In the proposed framework, the laser pose estimation is treated as a parallel redundant information, which is fused in an adjacent Kalman filter. The measurement and motion update step of the ROS-based adaptive Monte Carlo localization package is modified, in order to meet the requirements of a high-speed race scenario. Thereby, the key focus is on computational efficiency and the adaptation to characteristics arising at high speeds and at the limits of handling. An introspective performance evaluation monitors the position estimation process and labels generated outputs for adjacent components accordingly. The effectiveness of the proposed algorithm is illustrated in a real world high-speed experiment, autonomously driving a race vehicle – the DevBot – in a typical race environment.
© The Authors, published by EDP Sciences, 2019
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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