Sensor fusion using nonholonomic constraints

Douglas A. Lyon

doi:10.1117/12.131675

1 November 1992 Sensor fusion using nonholonomic constraints

Douglas A. Lyon

Proceedings Volume 1828, Sensor Fusion V; (1992) https://doi.org/10.1117/12.131675
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

We find a suboptimal time-variant tracking control law which provides guidance for a car's steering system. A proportional plus derivative controller uses an observer which employs a novel sensor fusion regime. The observer fuses sensors whose reliability is inversely related to their availability by using an erroneous plant model subject to nonholonomic and kinematic constraints. The observer samples the plant model with 25% systematic error at 100 hertz. Internal sensors are sampled at 20 hertz and have 10% error. External sensors are sampled at 5 hertz and have no error. The observer performs dead reckoning during the intervals of time when the external sensors are not available. There are two internal sensors, an odometer and a steering-wheel angle meter. The odometer is used to compute a linear approximation to the speed of the plant. The steering-wheel angle meter measures the steering-wheel deflection relative to the longitudinal centerline of the plant. There are three external sensors which are used to measure the pose of the plant.

Citation Download Citation

Douglas A. Lyon "Sensor fusion using nonholonomic constraints", Proc. SPIE 1828, Sensor Fusion V, (1 November 1992); https://doi.org/10.1117/12.131675

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