Title :
Process models for the high-speed navigation of road vehicles
Author :
Julier, Simon ; Durrant-Whyte, H.
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
Abstract :
A nonlinear process model for the navigation of a high-speed conventional road vehicle is described. In simulations it is shown to significantly reduce the errors in estimating of vehicle position and orientation. The model also performs limited online estimation of certain critical tyre parameters such as mean radius and stiffness
Keywords :
Kalman filters; discrete time systems; dynamics; estimation theory; navigation; position control; road vehicles; state-space methods; discrete time process model; estimation errors; extended Kalman filter; mean radius; navigation; nonlinear process model; online estimation; orientation estimation; position estimation; road vehicles; stiffness; Axles; Equations; Kinematics; Navigation; Road vehicles; System testing; Tires; Turning; Vehicle dynamics; Wheels;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525270
