Estimation of Unstabilized Components in Vehicular Motion

摘要

This paper presents a kinetic-model based algorithm for estimating someunstabilized 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).