A Multi-Sensor Fusion System for a Laboratory Based Autonomous Vehicle

Walker, R.J. and Harris, C.J. (1993) A Multi-Sensor Fusion System for a Laboratory Based Autonomous Vehicle. 1st Int. Workshop on Intelligent Autonomous Vehicles , 107--112.


Full text not available from this repository.


Motivated by the desire to generate richer descriptions of world state from disparate information sources the research area of Multi Sensor Data Fusion (MSDF) based upon a distributed Kalman Filter is addressed in this paper. To demonstrate the approach the MSDF system is applied i) in simulation to a second order plant and ii) to a laboratory based robot. MSDF research has demonstrated greater accuracy of state estimation which leads to greater system robustness with respect to sensor failure/sensor error. In addition the applicataion of MSDF to systems with zero mean noise processes generates a Kalman filtered state estimate that is less sensitive to poor choices of system and process noise models.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Additional Information: Organisation: IFAC Address: Southampton, UK
Divisions : Faculty of Physical Sciences and Engineering > Electronics and Computer Science > Southampton Wireless Group
ePrint ID: 250371
Accepted Date and Publication Date:
September 1993Published
Date Deposited: 04 May 1999
Last Modified: 31 Mar 2016 13:50
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/250371

Actions (login required)

View Item View Item