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Vehicle navigation using image information on association errors
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, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
1989 (English)In: Intelligent autonomous systems: 2nd International conference : Papers / [ed] Takeo Kanade; F C A Groen; L O Hertzberger, Amsterdam: Stichting International Congress of Intelligent Autonomous Systems , 1989, 814-822 p.Conference paper (Refereed)
Abstract [en]

Describes how image-like measurements can be used for accurate navigation of a vehicle. The `camera' is a rotating laser scanner and the `landmarks' are stripes of identical retroreflecting tape. This arrangement can be seen as a linear circular 360 degree camera with a rotating scanning at a rate of 1 scan/second. The most likely objects the `camera' will see are these identical pieces of tape. Tests were carried out using an AGV (Autonomous Guided Vehicle) running on a floor. At a speed of 0.3 m/s the trajectory fluctuates less than ±2 mm. For this special case it is possible to give a fairly complete and rigorous mathematical model. The model includes the motion, the sensor, missing and erroneous measurements etc

Place, publisher, year, edition, pages
Amsterdam: Stichting International Congress of Intelligent Autonomous Systems , 1989. 814-822 p.
Research subject
Control Engineering; Industrial Electronics
Identifiers
URN: urn:nbn:se:ltu:diva-39977Local ID: eee93cf0-0a2a-11dd-ae49-000ea68e967bISBN: 9080041033OAI: oai:DiVA.org:ltu-39977DiVA: diva2:1013497
Conference
International Conference on Intelligent Autonomous Systems : 11/12/1989 - 14/12/1989
Note
Godkänd; 1989; 20080414 (cira)Available from: 2016-10-03 Created: 2016-10-03Bibliographically approved

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Wernersson, ÅkeAndersson, UlfHyyppä, Kalevi
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