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
- 2011.1
- 수록면
- 121 - 130 (10page)
이용수
초록· 키워드
오류제보하기
The localization of vehicle is an important part of an unmanned vehicle control problem. Pseudolite ultrasonic system(PUS) is the method to find an absolute position with a high accuracy by using ultrasonic sensor. And Gyro is the inertial sensor to measure yaw angle of vehicle. PUS can be able to estimate the position of mobile robot precisely, in which errors are not accumulated. And Gyro is a more faster measure method than PUS. In this paper, we suggest a more accuracy method of calculating PUS which is numerical analysis approach named Newtonian method. And also propose the fusion method to increase the accuracy of estimated angle on moving vehicle by using PUS and Gyro integrated system by Kalman filtering. To control the 4WS unmanned vehicle, the trajectory following algorithm is suggested. And the new concept arbitration of goal controller is suggested. This method considers the desirability function of vehicle state. Finally, the performances of Newtonian method and designed controller were verified from the experimental results with the 4WS vehicle scaled 1/10.
목차
등록된 정보가 없습니다.
참고문헌 (11)
참고문헌 신청
Bender,J.G / 1991 / An overview of system studies of automated highway system / IEEE Trans.On Vehicular Technology 40 (1)
Brown,R.G. / 1997 / Introduction to random signals and applied Kalman filtering,3rd ed / Wiley
Ebken,J. / 2005 / Applying unmanned ground vehicle technologies to unmanned surface vehicles / International Society for Optical Engineering 5804 (1) : 585 ~ 596
Farrell,J. / 1998 / The global positioning system & inertial navigation / McGraw-Hill
Fulton,J. / 2004 / DARPA Grand Challenge-a pioneering event for autonomous robotic ground vehicles / The Industrial Robot 31 (5) : 414 ~ 422
Brown,R.G. / 1997 / Introduction to random signals and applied Kalman filtering,3rd ed / Wiley
Ebken,J. / 2005 / Applying unmanned ground vehicle technologies to unmanned surface vehicles / International Society for Optical Engineering 5804 (1) : 585 ~ 596
Farrell,J. / 1998 / The global positioning system & inertial navigation / McGraw-Hill
Fulton,J. / 2004 / DARPA Grand Challenge-a pioneering event for autonomous robotic ground vehicles / The Industrial Robot 31 (5) : 414 ~ 422
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