Integration of GPS and Accelerometer Uncertainties to Improve the Estimation of the Pose of Autonomous Vehicles

2010 ◽  
Author(s):  
Wilson O. Achicanoy M. ◽  
Carlos F. Rodriguez H.
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Sampling Rate ◽  
System A ◽  
Accelerometer Signal ◽  
Gps Measurement ◽  
Global Positioning ◽  
The Individual ◽  
Uncertainty Models

Uncertainty fusion techniques based on Kalman filtering are commonly used to provide a better estimation of the state of a system. A comparison between three different methods to combine the sensor information in order to improve the estimation of the pose of an autonomous vehicle is presented. Two sensors and their uncertainty models are used to measure the observables states of a process: a Global Positioning System (GPS) and an accelerometer. Given that GPS has low sampling rate and the uncertainty of the position, calculated by double integration from the accelerometer signal, increases with time, first a resetting of the estimator based on accelerometer by the GPS measurement is done. Next, a second method makes the fusion of both sensor uncertainties to calculate the estimation. Finally, a double estimation is done, one for each sensor, and a estimated state is calculated joining the individual estimations. These methods are explained by a case study of a guided bomb.

Enhancing Safety in Manufacturing Systems by Integrating Diagnostic Information

2008 ◽  
Author(s):  
Kyle Schroeder ◽  
Aftab A. Khan ◽  
James Moyne ◽  
Dawn Tilbury
Keyword(s):  
Manufacturing Systems ◽  
Diagnostic System ◽  
Process Variable ◽  
Safety System ◽  
Industrial Control ◽  
Industrial Control Systems ◽  
System A ◽  
The Individual ◽  
Diagnostics System

Integrating traditionally separate industrial control systems can derive factory-wide benefits by leveraging more information about the ongoing process. This paper shows that connecting a networked safety system and a process control system leads to an extension of the individual benefits provided by each system. A safety system gains the ability to protect not only the machines and workers but also the product that is being built. A diagnostic system can also raise safety alarms when a process variable is outside the expected range of safe operation. This connection is explored to determine the practical impact of different methods of integration on machining and system processes. Three integration methods are possible depending on which portions of the system can be classified as “safe”. A case study integrating a diagnostics system as a non-safe sensor proves that this connection, when it is implemented on an industrial testbed, provides all of the benefits described and does not require significant changes to control software.

Design Strategy

2020 ◽  
pp. 86-131
Author(s):  
Laura R. Oswald
Keyword(s):  
Design Strategy ◽  
Fine Art ◽  
Functional Aspect ◽  
Sense Experience ◽  
Semiotic System ◽  
Commercial Practice ◽  
System A ◽  
Functional Forms ◽  
The Individual

Design is a semiotic system, a technology, and a commercial practice that shapes to a great extent the ways consumers sense, experience, and understand objects, events, spaces, and processes in the marketplace. Some writers have used the term “semiotic engineering” to describe the design process because it involves the deliberate actions of molding and organizing phenomena to influence human behavior. Although design performs an esthetic function to create beautiful, pleasing things and environments, it differs from fine art in several ways. Fine art is valued for its unique, one-of-a-kind creativity, its ability to transcend the mundane, functional aspect of things, and the force of its impact on the hearts and imaginations of the individual spectator. Design, on the other hand, weaves the esthetic priorities of art into functional forms that help consumers build stuff, organize processes, and navigate the world of things and information. This chapter walks the reader through basic semiotic principles and methods for developing design strategy and planning for service sites and packaging. Laura Santamaria contributes a case study on design semiotics for innovation.

Effect of GPS sample interval and paddock size on estimates of distance travelled by grazing cattle in rangeland, Australia

2018 ◽  
Vol 40 (1) ◽  
pp. 55 ◽  
Author(s):  
Sharon L. McGavin ◽  
Greg J. Bishop-Hurley ◽  
Ed Charmley ◽  
Paul L. Greenwood ◽  
Matthew J. Callaghan
Keyword(s):  
Sampling Rate ◽  
Apparent Distance ◽  
Sampling Interval ◽  
Short Sample ◽  
Gps Measurement ◽  
Global Positioning ◽  
Linear Movement ◽  
Sample Interval ◽  
Logarithmic Relationship ◽  
Free Ranging

The distance travelled by an animal, when determined by using global positioning system (GPS) coordinates, is usually calculated assuming linear movement between the recorded coordinates. When using long sample intervals, some movement may be overlooked if linear movement between each recorded position is assumed, because of the tendency of livestock to move in meandering paths. Conversely, overestimation of the true distance travelled could occur with short sample intervals because of the accumulation of extra distance due to GPS measurement error. Data from 10 experiments were used to explore the effect of paddock size and GPS sampling rate on the calculation of distance travelled by free-ranging cattle. Shortening the sample interval increased apparent distance travelled according to a power function. As paddock size increased from <1 ha to >450 ha, distance travelled increased according to a logarithmic relationship; however, other variation between experiments could have affected these results. It was concluded that selecting an optimal GPS sampling interval is critical to accurately determining the distance travelled by free-ranging cattle.

Fuzzy coordination through measure information sharing of multi-robot system: A case study

2021 ◽  
pp. 1-8
Author(s):  
Xuefeng Dai ◽  
Jiazhi Wang ◽  
Dahui Li ◽  
Yanchun Wang
Keyword(s):  
Robot System ◽  
Fuzzy Membership Functions ◽  
System A ◽  
Parameter Update Law ◽  
Robot Systems ◽  
Potential Applications ◽  
The Individual ◽  
Logic Reasoning ◽  
Multi Robot

Multi-robot systems have many potential applications; however, the available results for coordination were based on qualitative information. Fuzzy logic reasoning has a feature of human being thinking, so a novel coordinated algorithm is proposed. The algorithm utilizes sharing sensing information of rooms and semantic robots to coordinating robots in a structured environment exploration. The approach divides all teammate robots into two classes according to robot exploration performance, and divides rooms into large, medium and small ones according to estimations of the individual areas. On the purpose of minimizing exploration time of the system, the reasoning coordination assigns large room to good performance robot, and vice versa. A parameter update law is introduced for fuzzy membership functions. Finally, the results are validated by computer simulations for a structured environment.

A framework for safe assisted navigation of semi-autonomous vehicles among moving and steady obstacles

Robotica ◽  
2016 ◽  
Vol 35 (5) ◽  
pp. 981-1005 ◽  
Author(s):  
Andrey V. Savkin ◽  
Chao Wang
Keyword(s):  
Computer Simulations ◽  
Navigation System ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Human Operator ◽  
Rigorous Analysis ◽  
Reactive Navigation ◽  
Assisted Navigation ◽  
System A ◽  
Hospital Bed

SUMMARYWe present a novel framework for collision free assisted navigation of a semi-autonomous vehicle in complex unknown environments with moving and steady obstacles. In the proposed system, a semi-autonomous vehicle is guided by a human operator and an automatic reactive navigator. The autonomous reactive navigation block takes control from the human operator in situations where there is the danger of collision with obstacle. A mathematically rigorous analysis of the proposed approach is provided. The performance of the proposed assisted navigation system is demonstrated via experiments with a real semi-autonomous hospital bed and extensive computer simulations.

The Global Positioning System: A Case Study in Systems Engineering

Insight ◽  
2008 ◽  
Vol 11 (4) ◽  
pp. 40-44
Author(s):  
George Richard Freeman ◽  
Randall Bullard ◽  
John Colombi
Keyword(s):  
Global Positioning System ◽  
Systems Engineering ◽  
Positioning System ◽  
System A ◽  
Global Positioning

scholarly journals Hybrid Multi-Sensor Integration for Static or Dynamic Obstacle Detection, Tracking and Classification for Autonomous Vehicle

2021 ◽  
Vol 23 (06) ◽  
pp. 1288-1293
Author(s):  
Dr. S. Rajkumar ◽  
◽  
Aklilu Teklemariam ◽  
Addisalem Mekonnen ◽  
◽  
...  
Keyword(s):  
Object Detection ◽  
Real Time ◽  
Autonomous Vehicles ◽  
Detection System ◽  
Autonomous Vehicle ◽  
Obstacle Detection ◽  
Multiple Sensors ◽  
Environment Perception ◽  
Hybrid Sensors ◽  
The Individual

Autonomous Vehicles (AV) reduces human intervention by perceiving the vehicle’s location with respect to the environment. In this regard, utilization of multiple sensors corresponding to various features of environment perception yields not only detection but also enables tracking and classification of the object leading to high security and reliability. Therefore, we propose to deploy hybrid multi-sensors such as Radar, LiDAR, and camera sensors. However, the data acquired with these hybrid sensors overlaps with the wide viewing angles of the individual sensors, and hence convolutional neural network and Kalman Filter (KF) based data fusion framework was implemented with a goal to facilitate a robust object detection system to avoid collisions inroads. The complete system tested over 1000 road scenarios for real-time environment perception showed that our hardware and software configurations outperformed numerous other conventional systems. Hence, this system could potentially find its application in object detection, tracking, and classification in a real-time environment.

Sign in / Sign up

Export Citation Format

Share Document