On navigation of a robotic land vehicle

Document Type

Conference Proceeding

Publication Date

1-1-1993

Abstract

Estimation of the state of a robotic vehicle with independently-driven wheels is considered. The sensors in this application measure wheel rotation, angular velocity, and range from a fixed station. In addition to use of an extended Kalman filter for fusion of the data from these sensors, a simplified technique to reduced computational requirements is presented. Using dynamic parameters of an existing experimental vehicle, performance of the filters was simulated and compared. It was found that the simplified technique rivals the extended Kalman filter in performance but has a significant computational advantage.

Identifier

84992365981 (Scopus)

Publication Title

Guidance Navigation and Control Conference 1993

External Full Text Location

https://doi.org/10.2514/6.1993-3822

First Page

1083

Last Page

1087

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