Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Navigating an articulated vehicle and reversing with a trailer
Luleå tekniska universitet.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
1994 (English)In: Proceedings, 1994 IEEE International Conference on Robotics and Automation: May 8 - 13, 1994, San Diego, California, Los Alamitos, Calif: IEEE Computer Society Press , 1994, 2398-2404 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes two related tests; to navigate an articulated lawn mower and to reverse a mobile robot with a trailer. In both cases the vehicles are to follow a prespecified trajectory. The navigation principal is based on measured directions to several identical beacons, consisting of strips of reflective tapes. The angular sensor is a rotating laser for the illumination of the beacons and a highly sensitive electro-optical receiver for detecting the directions to the beacons. A Kalman filter is used to combine the measurements from the odometers with the detected angles to the known position of the beacons. To measure the angle between the robot and the trailer the same laser was used. This was done by placing two reflective beacons on the trailer. The repeatability was within 2 centimetre at low speed. The navigation of these two different types of vehicles turns out to be, essentially, the same problem. The sensitivities are different. Emphasis is on robust state estimation

Place, publisher, year, edition, pages
Los Alamitos, Calif: IEEE Computer Society Press , 1994. 2398-2404 p.
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering
Research subject
Industrial Electronics; Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-39924DOI: 10.1109/ROBOT.1994.351152Local ID: eda5c200-7c9b-11db-8824-000ea68e967bISBN: 0-8186-5330-2 (print)OAI: oai:DiVA.org:ltu-39924DiVA: diva2:1013443
Conference
IEEE International Conference on Robotics and Automation : 08/05/1994 - 13/05/1994
Note
Godkänd; 1994; 20061125 (ysko)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-10-19Bibliographically approved

Open Access in DiVA

fulltext(586 kB)22 downloads
File information
File name FULLTEXT01.pdfFile size 586 kBChecksum SHA-512
57bab0c1dfa0e60d794c98542932172cb11e30de70e43cd205ed86743e3391c93a28a75c1204ffa13ec271be98975a156f6372157aafbaab30288c56d1f525af
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Hyyppä, KaleviWernersson, Åke
By organisation
Signals and SystemsEmbedded Internet Systems Lab
Other Electrical Engineering, Electronic Engineering, Information EngineeringControl Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 22 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 36 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf