전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제67권11호
  • /
  • Pages.1486-1495
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  • 2018
  • /
  • 1975-8359(pISSN)
  • /
  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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비고유 특징을 갖는 의미정보를 이용한 지상 자율이동체 측위 기법

Autonomous Ground Vehicle Localization Filter Design Using Landmarks with Non-Unique Features

  • Kim, Chan-Yeong (School of Mechanical and Control Engineering, Handong Global University) ;
  • Hong, Daniel (Dept. of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Ra, Won-Sang (School of Mechanical and Control Engineering, Handong Global University)
  • 투고 : 2018.07.28
  • 심사 : 2018.09.27
  • 발행 : 2018.11.01
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초록

This paper investigates the autonomous ground vehicle (AGV) localization filter design problem under GNSS-denied environments. It is assumed that the given landmarks do not have unique features due to the lack of a prior knowledge on them. For such case, the AGV may have difficulties in distinguishing the position measurement of the detected landmark from those of other landmarks with the same feature, hence the conventional localization filters are not applicable. To resolve this technical issue, the localization filter design problem is formulated as a special form of the data association determining whether the detected feature is actually originated from which landmark. The measurement hypotheses generated by landmarks with the same feature are evaluated by the nearest neighbor data association scheme to reduce the computational burden. The position measurement corresponding to the landmark with the most probable hypothesis is used for localization filter. Through the experiments in real-driving condition, it is shown that the proposed method provides satisfactory localization performance in spite of using non-unique landmarks.

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참고문헌

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