A beacon navigation method for autonomous vehicles

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1、132IEEETRANSACTIONSONVEHICULARTECHNOLOGY,VOL.38,NO.3,AUGUST1989ABeaconNavigationMethodforAutonomousVehiclesCLARED.MCGILLEM,LIFEFELLOW,IEEE,ANDTHEODOREs.RAPPAPORT,MEMBER,IEEEAbstmct-Amethodfornavigatingautonomousvehiclesispresented.ofprovidingoff-wirenavigationforvehicle

2、sofmanykindsBasedonthethree-pointproblemfromlandsurveying,thisnavigational[3].Mostproposedsystemsrelyondeadreckoningtoprovidetechniquemakesuseofangularmeasurementsbetweenfixedbeacontheinstantaneouscontrolsignalsforsteering.Thesensorsforpairs.Extremelyaccuratepositioninf

3、ormationmaybeobtainedoverathedeadreckoningsystemaregenerallyshaftencodersonthelargeareawithsimpletrigonometricoranalyticgeometrycalculations.Typicalworst-caseerrorsareontheorderof10cmthroughouta2500-wheelsofthevehicle.Byitsnature,adeadreckoningsystemm2workspace.Anexperi

4、mentalposition-measuringsystemhasbeenhasnowaytocorrectforerrorsinitsmeasurementsorcal-builtandtested,anditdemonstratesthefeasibilityofthistechniqueculationsandthereforeitcanprovideaccurateguidanceonlytofunctionasakeyelementinanavigationsystemforautonomousforashortdistan

5、ce-typicallyafewtensonmeters.Thedeadvehicles.reckoningsystemmustobtainregularpositionfixestoremoveitserroraccumulation.OnesystemcurrentlybeingdevelopedI.INTRODUCTIONemploysanactivelasersensortoreadbar-codedretroreflec-tivestripslocatedatknownpositionsthroughoutitstravel

6、areaEHICLESthatarecapableoffollowingafixedguide-V[4],[5].Thesedataarethenusedtocomputetherequiredpathhavefoundmanyapplicationsinindustryrangingpositionfixes.Littledetailontheactualsystemimplemen-frommaildeliverytotransportationofin-processmaterialintationisavailable.Ano

7、therlasersystememploysanglemea-anautomatedproductionfacility[11.Theguidepathisusuallysurementsamongidenticalretroreflectivebeaconsalongwithawireburiedinthefloororafluorescentstrippaintedorsophisticateddetection,estimation,andcontrolalgorithmstocementedtothefloor.Asthefa

8、ctoryofthefutureevolves,recursivelyupdatethevehiclepositionwhenavalidangletheneedforimprovedtransportationwill