ASYNCHRONOUS AND TIME-DELAYED SENSOR FUSION OF A LASER SCANNER NAVIGATION SYSTEM AND ODOMETRY

• Abstract:

  This paper presents a description of the ‘sensor fusion’ algorithm for our proprietary new navigation system, the LS_NAV, which is based on laser range scanning data inside natural environment. The fusion is exploited between odometric navigation and the LS_NAV. In the proposed algorithm the accuracy of both navigation systems is estimated as a function of the actual manoeuvre being carried out. The method allows compensating the drift of the incremental system estimation, high data rate and noise reduction of the LS_NAV estimates. Experimental verification is carried out using an autonomous vehicle.
• Keywords:

  sensor fusion, AGV navigation, laser scanner
• Download:

  PWC-2006-TC17-004u.pdf
• DOI:

  _unreg_wc-2006.TC17-004

Event details:

• IMEKO TC:
• Event name:

  XVIII IMEKO World Congress
• Title:

  Metrology for a Sustainable Development

• Place:

  Rio de Janeiro, BRAZIL
• Time:

  17 September 2006 - 22 September 2006