THE RESEARCH OF OBSTACLE DETECTION BASED ON AK-MEANS CLUSTERING ALGPRITHM IN CROSS-COUNTRY

摘要：

　　In order to obtain obstacle information in the cross-county environment for an unmanned ground vehicle (UGV),AK-means clustering algorithm is applied in four-layer laser radar data mining in this paper.The result of clustering serves as candidate obstacles.To overcome the false clustering due to vibration of UGV,weighted Euclidean distance is used to improve Davies-Boutdin Index (DBI).The experimental results show that the proposed obstacle detection algorithm is reliable and robust in low speed driving.

关键词： AK-mean Cross-country Obstacle detection Laser radar

作者: Youchun Xu Jian Cao Peng Jia Zufeng Zhang

作者单位: Military Transportation University,Tianjin 300161,China Military Transportation University,Tianjin 300161,China;Institute of Chinese Electronic Equipment Sy

会议类型: 国际会议

会议名称: 2012 2nd IEEE International Conference on Cloud Computing and Intelligence Systems (2012年第2届IEEE云计算与智能系统国际会议(IEEE CCIS2012))

会议地点: 杭州

会议语种:英文

页码: 1642-1645

在线出版日期: 2012-10-30（万方平台首次上网日期，不代表论文的发表时间）