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25 January 1998 Localization system for a high-speed land vehicle
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Proceedings Volume 3210, Mobile Robots XII; (1998)
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States
There has been a significant increase in the use of Autonomous Guided Vehicles in ports, mines and other primary industries. Many of these applications require vehicles which operate safely and efficiently in unstructured environments at speeds approaching those of human- controlled vehicles. Meeting these objectives is extremely difficult and arguably one of the most important requirements is an accurate and robust localization system. In this paper we describe the development of a prototype, Kalman filter-based localization system for a conventional road vehicle operating in an outdoor environment at speeds in excess of 15 ms-1. Using sparsely placed beacons, vehicle position can be resolved to the order of a meter. Three main themes are addressed. The first is a quantitative methodology for sensor suite design. Sensors are classified according to their frequency responses and the suite is chosen to ensure a uniform response across the spectrum of vehicle maneuvers. The second theme develops accurate, high-order nonlinear models of vehicle motion which incorporate kinematics, dynamics and slip due to type deformation. Each model is useful within a certain operating regime. Outside of this regime the model can fail and the third theme avoids this problem through the use multiple models algorithms which synergistically fuse the properties of several models. Through addressing these themes we have developed a navigation system which as been shown to be accurate and robust to different types of road surface and occasional sensor data loss. The theories and principles developed in this paper are being used to develop a navigation system for commercial mining vehicles.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Simon J. Julier, Hugh F. Durrant-Whyte, and Simon B. Cooper "Localization system for a high-speed land vehicle", Proc. SPIE 3210, Mobile Robots XII, (25 January 1998);

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