NDLI: Dynamic localisation of autonomous guided vehicles

Content Provider	IEEE Xplore Digital Library
Author	Borthwick, S. Durrant-Whyte, H.
Copyright Year	1994
Description	Author affiliation: Dept. of Eng. Sci., Oxford Univ., UK (Borthwick, S.; Durrant-Whyte, H.)
Abstract	As autonomous guided vehicles become increasingly established within a diverse range of applications, the need for efficient and flexible operation becomes apparent. Existing localisation techniques have tended to offer either "move look update" operation, navigating from an a priori map, or continuous operation dependent upon artificial beacons placed within the environment. We describe an extended Kalman filter based navigation system which maintains a robust position estimate throughout continuous operation. In order to achieve dynamic operation, we exploit the recursive nature of the Kalman filter and utilise the higher data acquisition rate offered by infra red scanning to obtain observations of the operational environment. In order to further enhance performance, the a priori map is segmented into an array of regions containing sub-lists of features which can be rapidly matched with an observation, thus minimising the computation overhead due to data association.
Starting Page	92
Ending Page	97
File Size	506288
Page Count	6
File Format	PDF
ISBN	0780320727
DOI	10.1109/MFI.1994.398452
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-10-02
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle dynamics Remotely operated vehicles Mobile robots Navigation Real time systems Data acquisition Maintenance Automotive engineering Robustness Service robots
Content Type	Text
Resource Type	Article

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