NDLI: New Three-Dimensional Velocity Motion Model and Composite Odometry–Inertial Motion Model for Local Autonomous Navigation

Content Provider	IEEE Xplore Digital Library
Author	Galben, G.
Copyright Year	1967
Abstract	An autonomous vehicle or a self-guided vehicle (SGV) is a vehicle (robot) that performs the desired tasks in an unstructured environment without continuous human guidance. Almost all applications of an SGV require a vehicle that is capable of moving accurately and repeatedly to a particular location within its environment while executing a specific task. The accuracy and robustness in performing a specific task are therefore very important for the SGV to achieve a high level of performance. This paper introduces a new spherical velocity motion model and a new spherical odometry-inertia motion model for 3-D local landmark-based autonomous navigation. These new models are high accuracy and low-cost models. As modeling the contents of the immediate environment is fundamental, estimation of the position of the vehicle with respect to the external world is fundamental as well. Hence, using the most powerful tools of estimation theory, i.e., the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), which give the best estimations in noisy environments, will prove the accuracy and robustness of these 3-D models.
Sponsorship	IEEE Vehicular Technology Society
Starting Page	771
Ending Page	781
Page Count	11
File Size	1464136
File Format	PDF
ISSN	00189545
Volume Number	60
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-03-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Solid modeling Wheels Navigation Kinematics Mathematical model Accuracy unscented Kalman Filter (UKF) Autonomous navigation extended Kalman filter (EKF) self-guided vehicle (SGV)
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Automotive Engineering Computer Networks and Communications Electrical and Electronic Engineering Aerospace Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Novel Tire Force Estimation Strategy for Real-Time Implementation on Vehicle Applications

Comparison of estimation accuracy of EKF, UKF and PF filters

A New Optimized Algorithm with Nonlinear Filter for Ultra-Tightly Coupled Integrated Navigation System of Land Vehicle

A MBSE Application to Controllers of Autonomous Underwater Vehicles Based on Model-Driven Architecture Concepts

A Quaternion-Based Unscented Kalman Filter for Robust Optical/Inertial Motion Tracking in Computer-Assisted Surgery

Comparison Study on the Battery SoC Estimation with EKF and UKF Algorithms

UAV Attitude Estimation Using Unscented Kalman Filter and TRIAD

Unscented Kalman Filter on Lie Groups for Visual Inertial Odometry

Underwater Inertial Navigation With Long Baseline Transceivers: A Near-Real-Time Approach

New Three-Dimensional Velocity Motion Model and Composite Odometry–Inertial Motion Model for Local Autonomous Navigation

Similar Documents

Novel Tire Force Estimation Strategy for Real-Time Implementation on Vehicle Applications

Comparison of estimation accuracy of EKF, UKF and PF filters

A New Optimized Algorithm with Nonlinear Filter for Ultra-Tightly Coupled Integrated Navigation System of Land Vehicle

A MBSE Application to Controllers of Autonomous Underwater Vehicles Based on Model-Driven Architecture Concepts

A Quaternion-Based Unscented Kalman Filter for Robust Optical/Inertial Motion Tracking in Computer-Assisted Surgery

Comparison Study on the Battery SoC Estimation with EKF and UKF Algorithms

UAV Attitude Estimation Using Unscented Kalman Filter and TRIAD

Unscented Kalman Filter on Lie Groups for Visual Inertial Odometry

Underwater Inertial Navigation With Long Baseline Transceivers: A Near-Real-Time Approach

New Three-Dimensional Velocity Motion Model and Composite Odometry–Inertial Motion Model for Local Autonomous Navigation