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Modular approach for odometry localization method for vehicles with increased maneuverability

Han, Chenlei 1; Frey, Michael ORCID iD icon 1; Gauterin, Frank ORCID iD icon 1
1 Institut für Fahrzeugsystemtechnik (FAST), Karlsruher Institut für Technologie (KIT)


Localization and navigation not only serve to provide positioning and route guidance information for users, but also are important inputs for vehicle control. This paper investigates the possibility of using odometry to estimate the position and orientation of a vehicle with a wheel individual steering system in omnidirectional parking maneuvers. Vehicle models and sensors have been identified for this application. Several odometry versions are designed using a modular approach, which was developed in this paper to help users to design state estimators. Different odometry versions have been implemented and validated both in the simulation environment and in real driving tests. The evaluated results show that the versions using more models and using state variables in models provide both more accurate and more robust estimation.

Verlagsausgabe §
DOI: 10.5445/IR/1000129109
Veröffentlicht am 29.01.2021
DOI: 10.3390/s21010079
Zitationen: 1
Zitationen: 2
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Fahrzeugsystemtechnik (FAST)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2020
Sprache Englisch
Identifikator ISSN: 1424-8220
KITopen-ID: 1000129109
Erschienen in Sensors
Verlag MDPI
Band 21
Heft 1
Seiten Art. Nr.: 79
Bemerkung zur Veröffentlichung Gefördert durch den KIT-Publikationsfonds
Schlagwörter Localization, Modular approach, Odometry, Omnidirectional, Unscented Kalman filter (UKF), vehicle models
Nachgewiesen in Web of Science
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