Embedding a Pose Estimation Module on a NCS-Based UGV
نویسندگان
چکیده
Pose estimation is one of the most fundamental tasks in unmanned vehicles because many high level tasks depend directly on the vehicle localization. In this paper, an embedded pose estimation module based on the extended Kalman filter (EKF) is implemented in an autonomous vehicle with Network Controlled System (NCS) architecture. The implemented EKF fuses inexpensive sensor’s data in order to provide a more precise estimation than using any of those sensors separately. Experimental results of tests with the vehicle in a parking lot show a comparison between pose estimation executed embedded on an low cost, low-speed micro-controller on the vehicle and in a remote highspeed computer through a wireless link.
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