Development of a Control System for Autonomous Land Vehicles Modulaire Incorporated

Format:

Conference/Event

Author/Creator:

Mononen, Jussi, author.

Conference Name:

International Off-Highway & Powerplant Congress & Exposition (1995-09-11 : Milwaukee, Wisconsin, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 1995

Summary:

An autonomous control system for land vehicles was developed. The control system consists of two major core systems, the Mission Planning and Control Unit (MPCU) and Piloting System Unit (PSU) and a number of subsystems, including the Positioning Unit (PU).The system architecture is modular and it employs a virtual vehicle abstraction to give the system to a degree of vehicle-independency. The development and testing of the system have been carried out using a 1.5 ton tracked vehicle with a hydrostatic powertrain as a test platform.Real-Time Kinematic GPS positioning coupled with fiber-optic gyros have been used to achieve the high positioning accuracy needed in the system. Extended Kalman Filters have been used to achieve data fusion, and cubic B-splines have been used for trajectory generation.The system has performed well in autonomous tests; navigation accuracy of ± 5 cm has been consistently achieved.Further development work will concentrate on system refinements, reliability in less than ideal conditions, and systems integration

Notes:

Vendor supplied data

Publisher Number:

952150

Access Restriction:

Restricted for use by site license