Title :
Pose estimation of Ackerman steering vehicles for outdoors autonomous navigation
Author :
Weinstein, Alejandro J. ; Moore, Kevin L.
Author_Institution :
Div. of Eng., Colorado Sch. of Mines, Golden, CO, USA
Abstract :
This paper presents a localization scheme for Ackerman steering vehicles, to be used in outdoors autonomous navigation, using a low cost GPS and inclinometer. A complementary filter fuses the bearing from the inclinometer with the bearing of the GPS. We then use an Extended Kalman Filter to estimate the pose of the vehicle and the sensor biases. We validate our system with experimental results.
Keywords :
Global Positioning System; Kalman filters; mobile robots; nonlinear filters; pose estimation; robot vision; steering systems; vehicles; Ackerman steering vehicles; GPS; bearing; complementary filter; extended Kalman filter; inclinometer; localization scheme; outdoors autonomous navigation; pose estimation; sensor biases; Costs; Filters; Fuses; Global Positioning System; Kinematics; Magnetic levitation; Mobile robots; Navigation; Remotely operated vehicles; Vehicle dynamics;
Conference_Titel :
Industrial Technology (ICIT), 2010 IEEE International Conference on
Conference_Location :
Vi a del Mar
Print_ISBN :
978-1-4244-5695-6
Electronic_ISBN :
978-1-4244-5696-3
DOI :
10.1109/ICIT.2010.5472738
