Development of a localization system for an intelligent vehicle | |
| Author | Methee Srisupundit |
| Call Number | AIT Thesis no.ISE-09-26 |
| Subject(s) | Intelligent transportation system Automobiles--Automatic control Software localization |
| 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-09-26 |
| Abstract | An important issue in any intelligent vehicles is localization. Localization based on unprocessed data from GPS and electronic compass is possible but the localization result is always contaminated by noises especially from environment in the urban area; cloud, trees and building, for instances. To increase the accuracy of localization, appropriate sensor fusion is required. In this thesis, we implement several techniques such as extended kalman filter, unscented kalman filter and particle filter to increase the performance of localization. All algorithms were used to fused data from GPS, electronic compass and odometer. Every algorithm will be test on a testbed with same sensor data to compare the performance of each algorithm. Experiments are conducted on both electrical golf car and Mitsubishi galant. From the experiment, unscented kalman filter shows a best result when integrated with adaptive covariance algorithm. While, particle filter has an ability to withstand the changes of covariance of sensor. |
| Keyword | intelligent vehicle; Kalman filter; Particle Filter; localization |
| Year | 2009 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-09-26 |
| 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) | Dailey, Matthew;Pisut Koomsap |
| Scholarship Donor(s) | The Siam Kubota Industry co.,Ltd |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2009 |