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The authors previously proposed an Unmanned Ground Vehicle (UGV) in an orchard as a base platform for autonomous robot systems for performing tasks such as monitoring, pesticide spraying, and harvesting. To control a UGV in a semi-natural environment, accurate self-localization and a control law that is robust under large disturbances from rough terrain are the first priorities. In this paper, a self-localization...
Pose estimation is one of the most important part of guidance systems in unmanned vehicles. In this paper, we consider the problem of pose estimation of unmanned ground vehicle (UGV) equipped with a global positioning system (GPS), an odometer and an electronic compass. The unscented Kalman filter (UKF) is used to fuse the information from those sensors. To improve the accuracy and robustness, we...
Intelligent vehicle is the vehicle which has ability to drive itself autonomously and purposefully. The vehicle is expected to facilitate the people who cannot drive. Some modules of the vehicle; steering control, for instances, can assist the driver to make the driver drive more comfortable and safely. This paper proposes an autonomous navigation and control algorithm which is capable to travel around...
Conventionally GPS receivers and odometers are used in localization systems for ground vehicles/robots due to cost constraints. When these are deployed in urban conditions, multi-path and wheel slippage often result in large localization estimation errors. In this paper, pattern recognition techniques are employed to improve the localization estimates of a loosely coupled GPS-odometer solution. The...
This paper presents a novel method to support environmental perception of mobile robots by the use of a global feature map. While typical approaches to simultaneous localization and mapping (SLAM) mainly rely on an on-board camera for mapping, our approach uses geographically referenced aerial or satellite images to build a map in advance. The current position on the map is determined by matching...
The main problems with autonomous navigation system that uses GPS is the satellite outages and the mapping of the ambience in unknown environment. Techniques was presented to increase position accuracy and navigation robustness in unknown environment by means of collaborative navigation. When vehicle one is navigating, lines of sight to satellites will often be blocked, however, vehicle two at different...
Autonomous system have been interesting topic in the world of robotics, in order to replace human being. Intelligent vehicle is one of the popular autonomous system that gives many advantage for this world, not only in military but also civilian. Route control and obstacle avoidance are now considered as major problems in autonomous system. In this paper, new methods of routing and avoidance algorithm...
Navigation for unmanned vehicles always required correct positions during the movement of vehicle. Normally GPS is considered a valuable tool for the purpose of navigation and surveillance. Any obstruction in the area of GPS antenna can cause very significant reduction in accuracy. Therefore, GPS-INS based solution is utilized to improve accuracy. In case of small vehicles (like TOY cars), hardware...
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