A System Development for Autonomous Driving of Mini-Tram 미니트램의 자율 주행을 위한 시스템 개발

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This article describes a system development for autonomous driving of mini-tram and its experimental results on outdoor autonomous driving. The mini-tram was provided by KRRI (Korea Railroad Research Institute). For the pose estimation, we fused an IMU and a GPS sensor using extended Kalman filter. We chose an NVIDIA Drive PX2 and LiDAR to recognize the outdoor environment. In order to verify the feasibility of the developed system, we performed outdoor autonomous driving experiments.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2019-04
Language
Korean
Citation

Journal of Institute of Control, Robotics and Systems, v.25, no.6, pp.506 - 511

ISSN
1976-5622
DOI
10.5302/J.ICROS.2019.19.0038
URI
http://hdl.handle.net/10203/271280
Appears in Collection
EE-Journal Papers(저널논문)
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