DocumentCode
299846
Title
Process models for the high-speed navigation of road vehicles
Author
Julier, Simon ; Durrant-Whyte, H.
Author_Institution
Dept. of Eng. Sci., Oxford Univ., UK
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
101
Abstract
A nonlinear process model for the navigation of a high-speed conventional road vehicle is described. In simulations it is shown to significantly reduce the errors in estimating of vehicle position and orientation. The model also performs limited online estimation of certain critical tyre parameters such as mean radius and stiffness
Keywords
Kalman filters; discrete time systems; dynamics; estimation theory; navigation; position control; road vehicles; state-space methods; discrete time process model; estimation errors; extended Kalman filter; mean radius; navigation; nonlinear process model; online estimation; orientation estimation; position estimation; road vehicles; stiffness; Axles; Equations; Kinematics; Navigation; Road vehicles; System testing; Tires; Turning; Vehicle dynamics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525270
Filename
525270
Link To Document