There has been a significant increase in the use of AGV in ports, mines and other primary industries. Many applications require vehicles which operate safely and efficiently in unstructured environments at speeds approaching those of human-controlled vehicles. Arguably one of the most important requirements is accurate and robust localization. We describe the development of a prototype, Kalman filter-based localization system for a conventional road vehicle operating in an outdoor environment at speeds in excess of 15 ms-1. Using sparsely placed beacons, vehicle position can be resolved to the order of a meter. Three main themes are addressed. The first is a quantitative methodology for sensor suite design. Sensors are classified according to their frequency responses and the suite is chosen to ensure a uniform response. The second theme develops accurate, high-order nonlinear models of vehicle motion which incorporate kinematics, dynamics and slip. Each model is useful within a certain operating regime. Outside of this regime the model can fail; the third theme avoids this problem through the use of multiple models algorithms which synergistically fuse the properties of several models. We have developed a navigation system that is accurate and robust to different types of road surface and occasional sensor data loss.


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    Title :

    A localization system for a high-speed land vehicle


    Contributors:


    Publication date :

    1998


    Size :

    12 Seiten, 29 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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