Active cross-path correlation for autonomous vehicle path following
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 310-315
- https://doi.org/10.1109/isic.1995.525076
Abstract
We have developed and demonstrated a technique to allow a follower vehicle to closely repeat the path established by a leader vehicle. The leader records the range-to-obstruction to either or both sides as well as its own estimated position and orientation. A non-model-based technique is used to correlate the follower's estimate of position to the leader's. The technique is tolerant of changes in the environment between passes of the leader and follower, and eliminates the correspondence problem in a model-based system where both the leader and follower need to correctly identify a particular object as being the same landmark. In this paper, we describe the active cross-path correlation algorithm and initial experimental results Author(s) Krantz, D. MTS Syst. Corp., USA Gini, M.Keywords
This publication has 9 references indexed in Scilit:
- High resolution maps from wide angle sonarPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Automobile navigation system using beacon informationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Analysis of data fusion methods in certainty grids application to collision danger monitoringPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Smart cars on smart roads: problems of controlIEEE Transactions on Automatic Control, 1993
- Experimental investigation of mapping and navigation based on certainty grids using sonar sensorsRobotica, 1993
- Analysis of GPS and Loran-C performance for land vehicle navigation in the Canadian RockiesIEEE Aerospace and Electronic Systems Magazine, 1992
- Visual control of an autonomous vehicle (BART)-the vehicle-following problemIEEE Transactions on Vehicular Technology, 1991
- Differential operation of the Global Positioning SystemIEEE Communications Magazine, 1988
- Optimal terrain-aided navigation systemsPublished by American Institute of Aeronautics and Astronautics (AIAA) ,1978