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http://dx.doi.org/10.5302/J.ICROS.2007.13.9.875

Unmanned Navigation of Vehicle Using the Ultrasonic Satellite System  

Kim, Su-Yong (부산대학교 지능기계공학과)
Lee, Jung-Min (삼성전자 생산기술 연구소)
Lee, Dong-Hwal (한국LPS)
Lee, Man-Hyung (부산대학교 기계공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.9, 2007 , pp. 875-882 More about this Journal
Abstract
In order for a vehicle to follow a predetermined trajectory accurately, its position must be estimated accurately and reliably. In this thesis, we propose trajectory tracking control methods for unmanned vehicle and a positioning system using ultrasonic wave. The positioning problem is an important part of control problem for unmanned navigation of a vehicle. Dead Reckoning is widely used for positioning of vehicle. However this method has problems because it accumulates estimation errors. We propose a new method to increase the accuracy of position estimation using the Ultrasonic Satellite System (USAT). It is shown that we will be able to estimate the position of vehicle precisely, in which errors are not accumulated. And proposed trajectory tracking control methods include both a new path planning method and a lateral control method for vehicle. The experimental results show that the proposed methods enables exact vehicle trajectory tracking even under various environmental factors.
Keywords
ultrasonic positioning system; unmanned vehicle navigation; path planning; lateral control;
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Times Cited By KSCI : 1  (Citation Analysis)
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