On navigation of a robotic land vehicle

Bernard Friedland, Hong Ding

Research output: Contribution to conferencePaperpeer-review


Estimation of the state of a robotic vehicle with independently-driven wheels is considered. The sensors in this application measure wheel rotation, angular velocity, and range from a fixed station. In addition to use of an extended Kalman filter for fusion of the data from these sensors, a simplified technique to reduced computational requirements is presented. Using dynamic parameters of an existing experimental vehicle, performance of the filters was simulated and compared. It was found that the simplified technique rivals the extended Kalman filter in performance but has a significant computational advantage.

Original languageEnglish (US)
Number of pages5
StatePublished - 1993
EventGuidance, Navigation and Control Conference, 1993 - Monterey, United States
Duration: Aug 9 1993Aug 11 1993


OtherGuidance, Navigation and Control Conference, 1993
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering


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