Abstract
This paper presents experimental results obtained in ‘OxNav’, a 3-year research project investigating autonomous vehicle navigation systems. The project aimed to develop navigation systems for low-speed, continuously moving, indoor vehicles suitable for industrial use. Research addressed on two main issues: validation of distributed control algorithms for wheeled vehicles, and development of distributed filtering and sensor management algorithms capable of ensuring robust reliable operation in the presence of noise and clutter. The work presented in this paper focuses on the results obtained in lengthy experimental trials at active industrial sites and in the laboratory. Details of the system architecture and theoretical advances in distributed Kalman filtering that contributed to the results presented here have been previously published in [1,3,4,5,8,9,14].
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© 1997 Springer-Verlag London Limited
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Stevens, M., Stevens, A., Durrant-Whyte, H. (1997). Robust vehicle navigation. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035225
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DOI: https://doi.org/10.1007/BFb0035225
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