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.
Download
Full text not available from this repository.
Description/Abstract
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 and Applied Science > Electronics and Computer Science > Comms, Signal Processing & Control |
| Item ID: | 250371 |
| Date Deposited: | 04 May 1999 |
| Last Modified: | 02 Mar 2012 14:01 |
| Contributors: | Walker, R.J. (Author) Harris, C.J. (Author) |
| Date: | September 1993 |
| Additional Information: | Organisation: IFAC Address: Southampton, UK |
| Status: | Published |
| Further Information: | Google Scholar |
| URI: | http://eprints.soton.ac.uk/id/eprint/250371 |
Actions (login required)
 |
View Item |
