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This paper analyzes the accuracy concerns of self-positioning of some unmanned ground vehicle that is undertaking simultaneous localization and mapping. The environment information description provided by vehicle sensor usually has strong geometric feature. Thus, the paper puts forward a method with geometric feature for simultaneous localization and mapping environment description. After analyzing...
In this paper, a data fusion method based on BP neural network and DR is proposed for ALV's navigation. Mathematical models have been established for data fusion. When GPS is valid, neural network is adopted, which is three layered network with 5 input/ 3 output neurons with a single hidden layer. When GPS is invalid, DR is introduced by using outputs of IMU and milometer and initial information from...
To improve the performance of MEMES IMU based integrated system, the data fusion method integrated AI and Kalman filter was discussed. First, GPS signal validity and vehicle motion status were identified by using fuzzy logics. And when GPS doesn't outage, its data were set higher weight to be used to guide ALV; otherwise, AI (artificial intelligence) based integration algorithm with the help of Kalman...
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