Accession Number : ADA290580

Title :   Estimation of Unstabilized Components in Vehicular Motion.

Descriptive Note : Technical rept.,

Corporate Author : MARYLAND UNIV COLLEGE PARK CENTER FOR AUTOMATION RESEARCH

Personal Author(s) : Yao, Yi-Sheng ; Chellappa, Rama

PDF Url : ADA290580

Report Date : SEP 1994

Pagination or Media Count : 30

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)

Descriptors :   *GROUND VEHICLES, *COMPUTER VISION, VELOCITY, MATHEMATICAL MODELS, ALGORITHMS, COMPUTERIZED SIMULATION, IMAGE PROCESSING, STABILITY, PITCH(MOTION), STOCHASTIC PROCESSES, INERTIA, EQUATIONS OF MOTION, ACCELEROMETERS, LAND TRANSPORTATION, TERRAIN, ESTIMATES, BARRIERS, AUTONOMOUS NAVIGATION, KINETICS, RANGE FINDING, COLLISION AVOIDANCE, DETERMINANTS(MATHEMATICS), IMAGE MOTION COMPENSATION.

Subject Categories : Cybernetics
      Surface Transportation and Equipment
      Mechanics

Distribution Statement : APPROVED FOR PUBLIC RELEASE