Autonomous vehicle navigation in neighbourhood environments : a map assisted and a feature-based approach

• Main Author: Lee, Kwang Wee
• Other Authors: Wijesoma, Wijerupage Sardha
• Format: Theses and Dissertations
• Published: 2008
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• Online Access: https://hdl.handle.net/10356/4575
• Institution: Nanyang Technological University

In this thesis, the objectives are to establish and apply an appropriate non-linear framework of analysis of observability for vehicle localisation. More specifically, the methodology is applied to analyse the observability of various localisation approaches of ground vehicles, which includes Feature-based Localisation, Path Constrained Localisation, and Concurrent Mapping and Localisation (CML). The theoretical work extends to prove the necessity of absolute information in the CML problem and determines the minimum amount of absolute measurements required for achieving an observable localisation system. Thus, a general framework based on standard CML using a priori information describing the vehicle’s traversable path is proposed. The proposed approach’s observability is obtainable.