Design of Precise Integrated Navigation System-based ADAS for Unmanned Ground Vehicles

초록

In this paper, we design an unmanned ground vehicle (UGV) that can perform driving missions in various driving environments by incorporating an improved ADAS system with a GNSS/IMU-based navigation algorithm. The UGV is an unmanned electric vehicle driven by a BLDC motor and actuators such as a double wishbone type suspension and a rack and pinion steer that simulate the driving characteristics of a commercial electric vehicle. It is also equipped with camera, Lidar and encoder for recognition of driving environment. A GNSS-RTK receiver is employed to obtain the improved navigation solution performance which is also used for the compensation of cumulative error of MEMS-IMU. A loosely coupled Kalman filter is used for GNSS and IMU integration. The performance of the ADAS is improved through the use of the combined navigation system so that the UGV can cope with the urban congestion type driving environment.