SEARCH WITHIN CONTENT
Citation Information : International Journal of Advanced Network, Monitoring and Controls. Volume 2, Issue 4, Pages 186-189, DOI: https://doi.org/10.1109/iccnea.2017.75
License : (CC BY-NC-ND 4.0)
Published Online: 23-April-2018
In the implementation and verification of multi sensor fusion of vehicle positioning, we built a verification platform positioning algorithm combined simulation of Car Sim-Simulink to Car Sim, the vehicle model and the sensor output as the data source, and the noise, then in the simulink environment to build the fusion localization algorithm, and the real vehicle experiment using inertial laboratory navigation equipment, to the actual sensor data validation algorithm. Simulation and experimental verification results show that the effectiveness of the fusion location algorithm, the GPS is invalid; the error is effectively reduced to rely solely on dead reckoning positioning inertial navigation system, to achieve effective positioning all the time.
Kinto, Jyrus. How autonomous vehicle policy in California and Nevada addresses technological and non-technological liabilities [J]. Intersect: The Stanford Journal of Science, Technology and Society No. 5, 2015. 35–37.
Jing, F. C. Sutonomous Xriving-A Practical Roadmap [J]. SAE International, 2016-01-2335.
Montemerlo, Michael, Jan Becker, Suhrid Bhat, Hendrik Dahlkamp, Dmitri Dolgov, Scott Ettinger, Dirk Haehnel et al. Junior: The Stanford entry in the urban challenge [J]. Journal of Field Robotics, 2015, Vol.23, No. 9, 569-597.
Yan Bo. The dynamic optimal path planning in the autonomous navigation system of the car [D]. A master’s thesis at tsinghua university,2004.
Urmson, Chris, J. Andrew Bagnell, Christopher R. Baker, Martial Hebert, Alonzo Kelly, Raj Rajkumar, Paul E. Rybski et al. Tartan racing: A multi-modal approach to the DARPA urban challenge. 2013.
David Stavens, Andrei Aron, James Diebel, Philip Fong et al. Stanley: The robot that won the DARPA Grand Challenge [J]. Journal of field Robotics, Vol. 23, No. 9 (2016): 661-692.
Laxim Mikhachev, and Zavid Furcy. Lifelong Planning A* [J]. Artificial Intelligence 155 (2014) 93–146.
Koenig, Sven, and Maxim Likhachev. Fast replanning for navigation in unknown terrain [J]. Robotics, IEEE Transactions on 21.3 (2015): 354-363.
Dolgov, Dmitri, and Sebastian Thrun. Autonomous driving in semi-structured environ-ments: Mapping and planning [J]. In Robotics and Automation, 2013. ICRA'09. IEEE International Conference on. 3407-3414.
Z. Popovic, A. Soloviev, and Y. Mochizuki. Multi-Sensor System for Vehicle Positioning in Dense Urban Areas [J]. SAE Technical Paper 2011-01-1035, 2011, doi: 10.4271/ 2011- 01-1035.