Title :
Heading prediction in unmanned ground vehicles by laser compass
Author :
Khalili, Mey ; Weatherly, Richard ; Bolling, Robert ; Jacyna, Garry ; Robbins, Scott ; Ring, Keven ; Grabowski, Bob ; Forbes, Kevin ; Cicalese, Cindy
Author_Institution :
MITRE Corp., McLean, VA, USA
Abstract :
This paper presents an on-line algorithm that provides accurate heading predictions for Unmanned Ground Vehicles (UGVs). The algorithm uses cross-correlation of SICK laser scans to improve the heading predictions from GPS. It was tested on our Centaur vehicles in outdoor urban environments and verified to provide accurate smooth heading predictions.
Keywords :
Global Positioning System; compasses; laser beam applications; military vehicles; mobile robots; remotely operated vehicles; Centaur vehicles; GPS; SICK laser scans; cross-correlation algorithm; laser compass; on-line algorithm; outdoor urban environments; smooth heading predictions; unmanned ground vehicles; Compass; Global Positioning System; Heuristic algorithms; Interpolation; Lasers; Prediction algorithms; Vehicles;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems (MFI), 2010 IEEE Conference on
Conference_Location :
Salt Lake City, UT
Print_ISBN :
978-1-4244-5424-2
DOI :
10.1109/MFI.2010.5604488
