NDLI: Sensor fusion for precise autonomous vehicle navigation in outdoor semi-structured environments

Content Provider	IEEE Xplore Digital Library
Author	Bento, L.C. Nunes, U. Moita, F. Surrecio, A.
Copyright Year	2005
Description	Author affiliation: Inst. of Syst. & Robotics, Polytechnic Inst. of Leiria, Portugal (Bento, L.C.)
Abstract	This paper presents a guidance system for autonomous vehicles navigation in semi-structured outdoor environments. It integrates redundant encoders data and absolute positioning data provided by landmarks and artificial beacons. Natural features are localized using a laser range sensor, and magnetic sensing rulers were developed to detect magnetic markers buried in the ground. In the first fusion stage, data from four wheel encoders and one steering encoder are fused by means of an EKF, providing robust odometric information, namely in face of undesirable effects of wheels slippage. Next, a second fusion stage is processed for integrating odometric and absolute positioning data. Simulation and real experiments using a four-wheels actuated electrical vehicle are presented.
Starting Page	245
Ending Page	250
File Size	1259951
Page Count	6
File Format	PDF
ISBN	0780392159
DOI	10.1109/ITSC.2005.1520055
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-09-16
Publisher Place	Austria
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sensor fusion Remotely operated vehicles Mobile robots Navigation Wheels Laser fusion Magnetic sensors Sensor phenomena and characterization Robustness Face detection
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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