Estimation of Unstabilized Components in Vehicular Motion.

Abstract

This paper presents a kinetic-model based algorithm for estimating some unstabilized components in vehicular motion. In addition to smooth movement, there are unstabilized components such as bounce, pitch and roll in vehicular motion. To reliably accomplish other tasks like tracking and obstacle avoidance using visual inputs, it is essential to consider these disturbances. A two-wheel vehicle model available in the literature is used for this purpose. It takes into account the bouncing and pitching components. The dynamics of these unstabilized components are formulated using standard equations of motion. Assuming that depth information is known for some landmarks in the scene (e.g., obtained from a laser range finder) and additional information from inertial sensors such as accelerometers is available, a feature-based approach is proposed to estimate the unstabilized components. Simulation results for both deterministic and stochastic terrain profiles are presented. The robustness of the filter with respect to various parameter mismatches is also addressed. (AN)

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1994
Accession Number
ADA290580

Entities

People

  • Rama Chellappa
  • Yi-sheng Yao

Organizations

  • University of Maryland

Tags

Communities of Interest

  • Air Platforms
  • Energy and Power Technologies
  • Sensors

DTIC Thesaurus Topics

  • Accelerometers
  • Algorithms
  • Center Of Gravity
  • Collision Avoidance
  • Computational Science
  • Coordinate Systems
  • Data Displays
  • Dynamics
  • Equations
  • Equations Of Motion
  • Inertial Navigation
  • Inertial Navigation Systems
  • Kinetic Energy
  • Monte Carlo Method
  • Navigation
  • Potential Energy
  • Simulations

Readers

  • Computer Vision.
  • Control Systems Engineering.

Technology Areas

  • Directed Energy