지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 1,915 - 1,923 (9page)
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초록· 키워드
오류제보하기
For automated guidance control of a magnetically guided-all wheel steered vehicle, it is necessary to have information about position and orientation of the vehicle, and deviations from the reference path in real time. The magnet reference system considered here consists of three magnetic sensors mounted on the vehicle and magnetic markers, which are non-equidistantly buried in the road. This paper presents an observer to estimate such position and orientation at the center of gravity of the vehicle. This algorithm is based on the simple kinematic model of vehicle and uses the data of wheel velocity, steering angle, and the discrete measurements of marker positions. Since this algorithm requires the exact values of initial states, we have also proposed an algorithm of determining the initial position and orientation from the 16 successive magnet pole data, which are given by the magnetic measurement system(MMS). The proposed algorithm is capable of continuing to estimate for the case that the magnetic sensor fail to measure up to three successive magnets. It is shown through experimental data that the proposed algorithm works well within permissible error range.
목차
Abstract
1. 서론
2. Localization Problems of All-Wheel Steered Autonomous Vehicle
3. Position and Orientation Estimations
4. Experimental Results
5. Conclusions
References
저자소개
참고문헌 (15)
참고문헌 신청
1. [학술대회논문] - J. Du / 2006 / Lane-level positioning for in-vehicle navigation and automated vehicle location (AVL) systems / Proc. of IEEE Int. Veh. Symp : 522 ~ 526
2. [학술대회논문] - H. G. Xu / 2006 / Extended Kalman Filter Based Magnetic Guidance for Intelligent Vehicles / Intelligent Vehicles Symposium 2006 : 169 ~ 175
3. [학술지(정기간행물)] - Yunchun Yang / 2003 / Magnetometer and Differential Carrier Phase GPS-Aided INS for Advanced Vehicle Control / IEEE Trans. On Robotics and Automation 19 (2) : 269 ~ 283
5. [학술지(정기간행물)] - He Bo / 2006 / Precise navigation for a 4WS mobile robot / Journal of Zhejiang University SCIENCE A 7 (2) : 185 ~ 193
6. [학술대회논문] - Antonio Surrecio / 2005 / Fusion of Odometry with Magnetic Sensors Using Kalman Filters and Augmented System Models fo Mobile Robot Navigation / IEEE ISIE 2005 : 1551 ~ 1556
2. [학술대회논문] - H. G. Xu / 2006 / Extended Kalman Filter Based Magnetic Guidance for Intelligent Vehicles / Intelligent Vehicles Symposium 2006 : 169 ~ 175
3. [학술지(정기간행물)] - Yunchun Yang / 2003 / Magnetometer and Differential Carrier Phase GPS-Aided INS for Advanced Vehicle Control / IEEE Trans. On Robotics and Automation 19 (2) : 269 ~ 283
5. [학술지(정기간행물)] - He Bo / 2006 / Precise navigation for a 4WS mobile robot / Journal of Zhejiang University SCIENCE A 7 (2) : 185 ~ 193
6. [학술대회논문] - Antonio Surrecio / 2005 / Fusion of Odometry with Magnetic Sensors Using Kalman Filters and Augmented System Models fo Mobile Robot Navigation / IEEE ISIE 2005 : 1551 ~ 1556
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UCI(KEPA) : I410-ECN-0101-2013-560-000731495