Situation Awareness for Intelligent Mobility in Dynamic Environments IRT Nanoelec Perfect Platform
| Autor: | Chartre, Julia, Rummelhard, Lukas, Nègre, Amaury, David, Jean-Alix, Lussereau, Jérôme, Laugier, Christian |
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| Přispěvatelé: | Robots coopératifs et adaptés à la présence humaine en environnements dynamiques (CHROMA), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-CITI Centre of Innovation in Telecommunications and Integration of services (CITI), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA), GIPSA-Services (GIPSA-Services), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), ANR-10-AIRT-0005,NANOELEC,NANOELEC(2010), Chartre, Julia, NANOELEC - - NANOELEC2010 - ANR-10-AIRT-0005 - AIRT - VALID |
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: | |
| Zdroj: | 5th International conference on Machine Control & Guidance 5th International conference on Machine Control & Guidance, Oct 2016, Vichy, France MCG 2016-5th International conference on Machine Control & Guidance MCG 2016-5th International conference on Machine Control & Guidance, Oct 2016, Vichy, France |
| Popis: | International audience; In the field of mobile robotics and intelligent vehicles, a key requirement for basic functionalities, such as collision awareness systems, is the ability to perceive and model a relevant representation of the environment where objects are moving. This crucial task is a challenging step in terms of accuracy, complexity and uncertainty management. The objective of this paper is to describe the multi-sensor Bayesian perception approach which has been developed by Inria 1 in the scope IRT Nanoelec 2 , implemented and tested on the IRT experimental platform including an equipped Renault Zoe vehicle. These systems can be adapted to off road environments such as agriculture fields or construction area where workers lives are jeopardized by heavy moving machineries. Embedded multi-sensor Bayesian perception algorithms have been developed on several experimental hardware in cooperation with CEA 3. For the purpose of computing accurate representation of the dynamic environment, these systems have been implemented on our intelligent vehicle, as well as on portable connected perception units. Shared perception have been implemented using Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication protocols. Experimental results are presented and discussed in the paper. |
| Databáze: | OpenAIRE |
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