Sensor fusion for four-wheel steerable industrial vehicles

• Main Author: Tham, Yew Keong.
• Other Authors: Wang, Han
• Format: Theses and Dissertations
• Language: English
• Published: 2008
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Electronic systems::Signal processing
• Online Access: http://hdl.handle.net/10356/13297
• Institution: Nanyang Technological University

This thesis addresses the multi-sensor data fusion problem in the tracking of a bi-directional, moderate speed, four-wheel steerable industrial vehicle with substantial load variations. The main contribution lies in the development of an adaptive estimator based on the extended Kalman filter with tw...