In this paper, we tackle the outdoor localization problem for autonomous vehicle navigation. A vehicle can be represented by a unicycle kinematic model which is a non holonomic one. The use of Kalman filter has been extensively used for multi-sensor data fusion for robotized vehicle localization. The non-linearity of evolution model gave raise to several extensions of classical Kalman filters such as extended Kalman filter and unscented Kalman filter or other approximative method. In this paper, we propose to use chained form state representation in order to avoid the approximative linearization made by approximate methods. Experimental vehicle equipped with a GPS, wheel encoders and gyroscope is used in order to test performance and validity of the proposed approach. Finally, performance comparison between Kalman filter applied on a chained form, extended Kalman filter and unscented Kalman filter is presented.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A chained form state representation for outdoor vehicle localisation


    Contributors:


    Publication date :

    2011-10-01


    Size :

    365614 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Stabilization Conditions for Chained Systems Based on Time-state Control Form

    Yamakawa, S. | British Library Online Contents | 2013


    Vehicle capable of running in chained mode

    ZHOU YUEPING / ZHOU WENJUN / CHEN HUIJUAN et al. | European Patent Office | 2015

    Free access

    VEHICLE LOCALISATION

    TAIE MOSTAFA / MARSHALL CHARLES | European Patent Office | 2024

    Free access

    VEHICLE LOCALISATION

    FU JUNSHENG / ZHANG HAN / GUSTAFSSON TONY et al. | European Patent Office | 2022

    Free access

    Vehicle localisation

    European Patent Office | 2019

    Free access