Syahroni, Nanang (2010) OCP Based Online Multisensor Data Fusion for Autonomous Ground Vehicle. Industrial Electronic Seminar.
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Abstract
In this paper, online multisensor data fusion algorithm using CORBA event channel is proposed, in order to deal with simplifying problem in sensor registration and fusion for vehicle’s state estimation. The networked based navigation concept for Autonomous Ground Vehicle (AGV) using several sensors is presented. A simulation of various application scenarios are considered by choosing several parameters of UKF, i.e. weighting constant for sigma points and square root matrix. Normalized mean-square error (MSE) of Monte Carlo simulations are computed and reported in the simulation results. Furthermore, the middleware infrastructure based on Open Control Platform (OCP) to support the interconnection between the whole filter structures also reported.
| Item Type: | Article |
|---|---|
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science Q Science > QA Mathematics > QA76 Computer software |
| Divisions: | Faculty of Engineering, Science and Mathematics > School of Electronics and Computer Science |
| Depositing User: | Diptia dipu Zandra |
| Date Deposited: | 14 Mar 2011 19:54 |
| Last Modified: | 14 Mar 2011 20:44 |
| URI: | http://repo.pens.ac.id/id/eprint/33 |
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