DocumentCode
2473418
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
fYear
2010
fDate
14-17 March 2010
Firstpage
579
Lastpage
584
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICIT.2010.5472738
Filename
5472738
Link To Document