Pose estimation of Ackerman steering vehicles for outdoors autonomous navigation

  title={Pose estimation of Ackerman steering vehicles for outdoors autonomous navigation},
  author={Alejandro J. Weinstein and Kevin L. Moore},
  journal={2010 IEEE International Conference on Industrial Technology},
This paper presents a localization scheme for Ackerman steering vehicles, to be used in outdoors autonomous navigation, using a low cost GPS and inclinometer. A complementary filter fuses the bearing from the inclinometer with the bearing of the GPS. We then use an Extended Kalman Filter to estimate the pose of the vehicle and the sensor biases. We validate our system with experimental results. 

Figures and Tables from this paper

Positioning System for an Electric Autonomous Vehicle Based on the Fusion of Multi-GNSS RTK and Odometry by Using an Extented Kalman Filter
A global positioning system for an autonomous electric vehicle based on a Real-Time Kinematic Global Navigation Satellite System (RTK- GNSS), and an incremental-encoder odometry system fused to a single system by an Extended Kalman Filter, reaching centimeter accuracy. Expand
Trajectory Estimation of a Tracked Mobile Robot Using the Sigma-Point Kalman Filter with an IMU and Optical Encoder
This paper estimates the precise trajectory of a tracked skid-steered mobile robot that contains an inertial measurement unit (IMU) and an optical encoder with a sigma-point Kalman filter (SPKF). Expand
UKF data fusion of odometry and magnetic sensor for a precise indoor localization system of an autonomous vehicle
This paper describes a sensor fusion system using odometry and magnetic sensor data for the precise indoor localization system and simulation results are presented that demonstrate the validity of the UKF based localization system. Expand
Dual Estimation for the Path Tracking Control of a Four Track Wheel Skid-Steered Mobile Robot
A new dual estimation algorithm for the robot’s position and wheel slip estimations based on the Kalman filtering technique is proposed, which overcome the limitations of the others in the path tracking control problem of a four track wheel skidsteered mobile robot (4-TW SSMR). Expand
This project work presents the sensor fusion of Global Positioning System (GPS), Inertial Measurement Unit (IMU) and Odometry data from wheel encoders which is used to estimate localization of mobileExpand
In this paper, localization of the robot is achieved by considering two Global Positioning Systems (GPS) or DGPS. Differential Global Positioning System (DGPS) is interfaced with MBED with the helpExpand
Path Tracking Control of a Mobile Robot by Using Dual Estimation Algorithm
Skid-steered mobile robots have been developed to explore unknown environments, especially in rough terrain situations, where the wheel slips always occur and vary when the robot is traveling withExpand
Localization of a Four-Wheeled Omnidirectional Mobile Robot Using Sensor Data: A Kalman Filter Approach
The state variables of a four-wheeled omnidirectional mobile robot are estimated and are used for a feedback loop for trajectory control of the robot and it is observed that the position parameter estimation is robust with respect to measurement noise. Expand
A Compensated System Design for GPS Failure Using Sensor Fusion System
This paper presents a sensor fusion system that can assist the vehicle to solve the localization problem since the global positioning system (GPS) signal is lost. Generally, the GPS signal is lostExpand
GALNet: An End-to-End Deep Neural Network for Ground Localization of Autonomous Cars
This work shows that a neural network can find a solution to the optimization problem employing an approximation of the Vehicle Slip Angle (VSA), and proposes the use of deep neural networks to estimate the relative pose of the car given two timestamps of inertial-dynamic-kinematic data. Expand


Localization methods for a mobile robot in urban environments
This paper addresses the problems of building a functional mobile robot for urban site navigation and modeling with focus on keeping track of the robot location with a localization system that employs two methods based on camera pose estimation. Expand
Data fusion of four ABS sensors and GPS for an enhanced localization of car-like vehicles
A localization system using GPS, ABS sensors and a driving wheel encoder, and an odometric technique using the four ABS sensors, which implies a noticeable reduction of the GPS latency, simplifying thus the data fusion process and improving the quality of its results. Expand
Mobile robot localization by tracking geometric beacons
An algorithm for, model-based localization that relies on the concept of a geometric beacon, a naturally occurring environment feature that can be reliably observed in successive sensor measurements and can be accurately described in terms of a concise geometric parameterization, is developed. Expand
Cascaded Kalman Filters for Accurate Estimation of Multiple Biases, Dead-Reckoning Navigation, and Full State Feedback Control of Ground Vehicles
  • D. Bevly, B. Parkinson
  • Engineering, Computer Science
  • IEEE Transactions on Control Systems Technology
  • 2007
Results are given, showing that the cascaded estimation technique provides better estimation of the vehicle states over a conventional estimation scheme, especially during a GPS outage. Expand
Toward a generic UGV autopilot
The recent research aimed at the development of a generic UGV autopilot is described, which includes a system that adds sonar ranging sensors, GPS/IMU/odometry, stereo camera, and scanning laser sensors, together with a variety of interfacing and communication hardware. Expand
Probabilistic robotics
This research presents a novel approach to planning and navigation algorithms that exploit statistics gleaned from uncertain, imperfect real-world environments to guide robots toward their goals and around obstacles. Expand
Autonomous Mobile Robots : Sensing, Control, Decision Making and Applications
SENSORS AND SENSOR FUSION Visual Guidance for Autonomous Vehicles: Capability and Challenges Andrew Shacklock, Jian Xu, and Han Wang Millimeter Wave RADAR Power-Range Spectra Interpretation forExpand
Tartan Racing: A multi-modal approach to the DARPA Urban Challenge
The system described in the paper exhibits a majority of the basic navigation and traffic skills required for the Urban Challenge, and from these building blocks more advanced capabilities will quickly develop. Expand
Introduction to random signals and applied kalman filtering (3rd ed
Probability and Random Variables Mathematical Description of Random Signals Response of Linear Systems to Random Inputs Wiener Filtering The Discrete Kalman Filter Applications and Additional TopicsExpand
Planning algorithms
This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system. Expand