A Multi-Sensor Fusion System for a Laboratory Based Autonomous Vehicle
A Multi-Sensor Fusion System for a Laboratory Based Autonomous Vehicle
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 application 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.
107--112
Walker, R.J.
f4a81273-566d-455c-95fa-42162d468ff8
Harris, C.J.
c4fd3763-7b3f-4db1-9ca3-5501080f797a
September 1993
Walker, R.J.
f4a81273-566d-455c-95fa-42162d468ff8
Harris, C.J.
c4fd3763-7b3f-4db1-9ca3-5501080f797a
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.
.
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Conference or Workshop Item
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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 application 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.
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Published date: September 1993
Additional Information:
Organisation: IFAC Address: Southampton, UK
Venue - Dates:
1st Int. Workshop on Intelligent Autonomous Vehicles, 1993-08-31
Organisations:
Southampton Wireless Group
Identifiers
Local EPrints ID: 250371
URI: http://eprints.soton.ac.uk/id/eprint/250371
PURE UUID: 8d561549-e120-47cd-b411-5eacb248a116
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Date deposited: 04 May 1999
Last modified: 10 Dec 2021 20:08
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Contributors
Author:
R.J. Walker
Author:
C.J. Harris
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