Sensor fusion based localization of an intelligent vehicle | |
| Author | Preeda Tungnapakorn |
| Call Number | AIT Thesis no.ISE-08-22 |
| Subject(s) | Global Positioning System Autonomous robots |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-08-22 |
| Abstract | Global Positioning System (GPS) has been used widely to locate the posItIon of autonomous robots. Though seemingly a perfect sensor, it may suffer severely from disturbances. This thesis introduces a localization process for a 4-wheel intelligent car based on the integration of various sensors to improve the performance of the noisy measurement by using GPS as base sensor. The aim is to achieve enough accuracy to enable reliable path tracking of an electronic golf car. The sensors used in this research consist of pseudo wheel speed encoders, steering angle encoder, digital compass, and a GPS. These sensors' data were fused by using two Kalman filters. The process models were a kinematic bicycle model and a forward motion model. To verify that the filters could improve the localization performance, the experiments were performed with three types of paths at low speeds (approximately 9 km/hr), and the performance was evaluated by using cross-track error. This research shows the filter estimates position in comparison with the measurement position and the un-estimated process position. |
| Year | 2008 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-08-22 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Pisut Koomsap;Bohez, Erik L.J. |
| Scholarship Donor(s) | RTG Fellowship |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2008 |