4WS Unmanned Vehicle Lateral Control Using PUS and Gyro Coupled by Kalman Filtering

• 발행기관: 한국항해항만학회
• 저자명: Kil Soo Lee Hyung Gyu Park Man Hyung Lee
• 간행물 정보: 『한국항해항만학회지』제35권 제2호, 121~130쪽, 전체 10쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2011.03.30

영문 초록

The localization of vehicle is an important part of an unmanned vehicle control problem. Pseudolite ultrasonic system(PUS) is the method to find an absolute position with a high accuracy by using ultrasonic sensor. And Gyro is the inertial sensor to measure yaw angle of vehicle. PUS can be able to estimate the position of mobile robot precisely, in which errors are not accumulated. And Gyro is a more faster measure method than PUS. In this paper, we suggest a more accuracy method of calculating PUS which is numerical analysis approach named Newtonian method. And also propose the fusion method to increase the accuracy of estimated angle on moving vehicle by using PUS and Gyro integrated system by Kalman filtering. To control the 4WS unmanned vehicle, the trajectory following algorithm is suggested. And the new concept arbitration of goal controller is suggested. This method considers the desirability function of vehicle state. Finally, the performances of Newtonian method and designed controller were verified from the experimental results with the 4WS vehicle scaled 1/10.

목차

1. Introduction

2. Position and azimuth recognition system

3. The design of vehicle lateral controller

4. Experiments and performance evaluations

5. Conclusion

키워드

PUS Gyro Kalman Filter 4WS Unmanned Vehicle