A Leader-path-following formation system for AGVs with multi-sensor data fusion based vehicle tracking

[摘要] Caravans composed of vehicles with different functionality or trafficability raise the demand that formation system structure shall allow vehicles to deviate from the path to be followed when necessary. In this paper, a formation system is developed for autonomous ground vehicles (AGVs) who follow the path of a leader vehicle while retaining the ability of deviation from the reference path. In addition, it improves robustness of preceding vehicle localization by fusing Lidar tracking, camera tracking results with predecessor's global position within an extended Kalman filter (EKF) in case that one or more sources of preceding vehicle localization is not reliable. The system is applied on real AGV platforms and won the 3rdplace in an AGV competition in China.

[发布机构] China North Vehicle Research Institute, Beijing, China^1;Peking University, Beijing, China^2

[效力级别] 计算机科学

[关键词] Autonomous ground vehicles;Camera tracking;Formation systems;Multisensor data fusion;Path following;Reference path;Trafficability;Vehicle localization