DocumentCode :
2576466
Title :
Rut tracking and steering control for autonomous rut following
Author :
Ordonez, Camilo ; Chuy, Oscar Y., Jr. ; Collins, Emmanuel G., Jr. ; Liu, Xiuwen
Author_Institution :
Dept. of Mech. Eng., Florida A&M-Florida State Univ., Tallahassee, FL, USA
fYear :
2009
fDate :
11-14 Oct. 2009
Firstpage :
2775
Lastpage :
2781
Abstract :
Ruts formed as a result of vehicle traversal on soft ground are used by expert off road drivers because they can improve vehicle safety on turns and slopes thanks to the extra lateral force they provide to the vehicle. In this paper we propose a rut detection and tracking algorithm for autonomous ground vehicles (AGVs) equipped with a laser range finder. The proposed algorithm utilizes an extended Kalman filter (EKF) to recursively estimate the parameters of the rut and the relative position and orientation of the vehicle with respect to the ruts. Simulation results show that the approach is promising for future implementation.
Keywords :
Kalman filters; laser ranging; mobile robots; nonlinear filters; recursive estimation; remotely operated vehicles; road safety; road vehicles; robot vision; steering systems; autonomous ground vehicle; autonomous rut following; extended Kalman filter; laser range finder; recursive parameter estimation; road driver; rut detection; rut tracking; steering control; vehicle safety; Control systems; Force control; Intelligent robots; Land vehicles; Mobile robots; Remotely operated vehicles; Road vehicles; Vehicle detection; Vehicle driving; Vehicle safety; Rut detection; robot trace; robot track; rut estimation; rut following;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on
Conference_Location :
San Antonio, TX
ISSN :
1062-922X
Print_ISBN :
978-1-4244-2793-2
Electronic_ISBN :
1062-922X
Type :
conf
DOI :
10.1109/ICSMC.2009.5346589
Filename :
5346589
Link To Document :
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