NDLI: Adaptive state estimation for 4-wheel steerable industrial vehicles

Content Provider	IEEE Xplore Digital Library
Author	Yew Keong Tham Han Wang Eam Khwang Teoh
Copyright Year	1998
Description	Author affiliation: Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore (Yew Keong Tham)
Abstract	Addresses the multi-sensor data fusion problem in the navigation of a four-wheel steerable industrial vehicle with substantial load variations. An adaptive estimation approach based on the extended Kalman filter is used to realise the multi-model filtering. The vehicle plant is represented using a modified kinematic model to effectively describe the side-slip which causes the vehicle to deviate from its ideal course. In view of the large mass variations and wheels' deflections, a method to constantly calibrate the odometry encoder's resolution is proposed to maintain an accurate position report even with long dead-reckoning distance. The position measurements from a landmark-based local reference system are fused with the odometry measurements to provide an optimal estimate of the vehicle's states. The filter performance is evaluated at different speeds and loading patterns using data obtained from field trials.
Starting Page	4509
Ending Page	4514
File Size	577920
Page Count	6
File Format	PDF
ISBN	0780343948
ISSN	01912216
DOI	10.1109/CDC.1998.762031
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-12-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	State estimation Vehicles Position measurement Navigation Load management Adaptive estimation Adaptive filters Filtering Kinematics Wheels
Content Type	Text
Resource Type	Article

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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
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