LiDAR-Only Ground Vehicle Navigation System in Park Environment

In this paper, a novel and complete navigation system is proposed for mobile ground vehicles in park environment. LiDAR map representation maintenance, dynamic objects detection removal, hierarchal path planning model-free local are developed the system. The formulated three layers. global layer, given point cloud of environment, traverse area detected its skeleton graph extracted to represent topology Then, middle divided into several submaps each submap represented by modified multi-layer grid map. considering dynamics according real-time observation, probabilistic distribution-based updating mechanism proposed. Based on environment representation, performed way. Considering complexity motion model estimation, free planner used. Extensive experiments conducted real source code will be made open robotics community.