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Development of Robot Crawler Tractor Using RTK-GPS and IMU as Navigation sensors

Development of Robot Crawler Tractor Using RTK-GPS and IMU a...

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亚洲精细农业与计算机农业应用联合大会

作者： Oscar C. Barawid Ryosuke Takai Kazunobu Ishii Noboru Noguchi Laboratory of Vehicle Robotics Graduate School of Agriculture Hokkaido University Sapporo 065-8589 Japan

The laboratory has successfully developed the necessary controller and algorithms （path-planning and turning） for a wheeled-type robot tractor. The objective of the research was to modify the crawler-type tractor into a robot crawler-type tractor by applying the developed controller and algorithms. The robot tractor used RTK-GPS and IMU as navigation sensors that can be used in different agricultural running conditions. The platform used was a 59-kW YANMAR CT801 crawler-type tractor with a built-in controller and actuators inside the tractor cabin. A crawler-type tractor is a vehicle with tracks instead of wheels. It is very suited for soft ground and mud agricultural applications. Nowadays crawler-type tractors are widely used in agricultural industry due to their lower ground pressure and high traction efficiency. The tractor was modified to be able to control various functions or to obtain data from different sensors electronically. It has a switch that can change manual to automatic mode. When the switch is on in the automatic mode, it can control steering, movement （forward, backward and neutral）, changing throttle using analog signal, changing transmission, turning on or off the power take-off （PTO）, emergency engine stop, up or down three-point hitch link using analog and digital signal, speed determination, engine rpm using pulse signal, and the position of three-point hitch link using analog signal. To control the steering and speed of the robot tractot, an electronic control unit （ECU） was made and it can communicate to the vehicle’s PC by using a control-area network （CAN） bus system. The navigation system for robot crawler-type tractor is based on sensor-fusion of real-time kinematic global positioning system （RTK-GPS） and inertial measurement unit （IMU）. The results of the field autonomous test runs showed that wheel-type tractor’s turning radius is not affected by speed;however crawler tractor’s turning radius increased while speed increases. It is con

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A field demonstration of multi-INT surveillance and data fusion

A field demonstration of multi-INT surveillance and data fus...

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conference on Multisensor, Multisource Information fusion

作者： Na, Arthur Havens, Steve Argon ST (United States)

ISBN: (纸本)9780819471659

Collecting data in any domain is often only the first step in creating intelligence. This is the beginning of a process which includes fusing that data with other data sources to create something more than the individual data elements. This has been historically difficult because collection sensors are optimized for their respective conventional domains. We have developed a multi-sensor system combining an electro-optical camera and infi-ared camera, using a revolutionary data handling and manipulating process to fuse multiple types of data to create inteffigence. To address the data fusion needs of such a system, we have developed an internationally recognized, open data fusion language called Transducer Markup Language (TML). TML was used in conjunction with the multi-sensor system to describe data from the EO and IR cameras and support sensors all within a self-contained mobile delivery system during mifitary exercises in July 2007. The TML data was collected and disseminated to multiple users within a Service Oriented Architecture (SOA), after which it was Ruther distributed using Cursor-On-Target (COT) messages over a second network. This demonstrated both data fusion of multiple sensor data sources and integration into existing data distribution infrastructures. Key innovations of this demonstration included the use of multiple sensors including EO & IR cameras and a single sensor data exchange language to capture and describe sensor output.

关键词： sensor fusion Transducer Markup Language sensor network SOA sensor actuator data exchange standard common data model common sensor model sensor ontology

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Image fusion: algorithms and applications illustrated edition

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2008年

作者： Tania Stathaki

ISBN: (纸本)9780123725295;0123725291

The application of sensor technology has brought considerable interest in the area of image fusion. Written by leading experts in the field, this book brings together in one volume the most recent algorithms, design techniques and applications in the topical field of image fusion. The applications are drawn from military, medical and civilian areas and give practical advice and pointers to the development of future applications in a variety of *** book will be an invaluable resource to R&D engineers, academic researchers and system developers requiring the most up-to-date and complete information on image fusion algorithms, design architectures and applications.*Brings together the latest algorithms, design techniques and applications in the hot area of Image fusion*A large number of applications from military, medical and civilian fields give practical advice on how to develop future applications.* Combines theory and practice to create a unique point of reference

关键词： Image processing Data processing. Image processing Digital techniques. Multisensor data fusion.

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Experimental Characterization of Synchronization Protocols for Wireless Networks

Experimental Characterization of Synchronization Protocols f...

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IEEE International conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems

作者： De Santo, M. Ferrigno, L. Paciello, V. Pietrosanto, A. Univ Salerno DIIIE I-84084 Fisciano SA Italy

ISBN: (纸本)9781424419272

Nowadays more and more measurement applications where sensor nodes cooperate to realize a data fusion process are entrusted to Wireless sensor Networks (WSN). Data fusion to be accurate requires that nodes be referred to a common clock and among themselves. In this scenario node synchronization got a crucial research topic and even sophisticated synchronization algorithms can be easily found in literature. Not a few others show to be especially designed for low cost, low memory and low power architectures. Their performance is usually evaluated either through analytical considerations or in simulation environments, but in some cases where ad hoc radio systems have been adopted. This paper makes a first step toward an experimental characterization of synchronization protocols that hold into account also influence factors which arise when commercial wireless communication busses as WiFi, BlueTooth (BT), ZigBee are adopted.

关键词： wireless sensor network, synchronization, trigger, measurement

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Comparing discrimination and CFA for selecting tracking features

Comparing discrimination and CFA for selecting tracking feat...

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conference on Multisensor, Multisource Information fusion

作者： Lyons, Damian M. Hsu, D. Frank Fordham Univ Dept Comp & Informat Sci Robot & Comp Vis Lab Bronx NY 10458 USA

ISBN: (纸本)9780819471659

The ability of a tracker to isolate the foreground target from the background of an image is crucially dependent on the set of features selected for tracking. Collins & Liu [2] propose an on-line, adaptive approach to selecting the set of features based on the insight that the set of features that best discriminate between target and background classes is the best set to use for tracking. In previous work [10], we have proposed an approach based on Combinatorial fusion Analysis for selecting features for Real-Time tracking. We discuss the relative merits of the two methods and motivate their combination to produce an improved tracking system. We show several results from a difficult tracking sequence with human targets to demonstrate the effectiveness of the combined system.

关键词： target tracking sensor fusion information fusion video tracking surveillance

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Application of data fusion in multi-sensor integrated navigation system

Application of data fusion in multi-sensor integrated naviga...

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3rd IEEE conference on Industrial Electronics and applications (ICIEA 2008)

作者： Xu Jinsong Lu Xiaochun Wu Haitao Bian Yujing Zou Decai Chinese Acad Sci Natl Time Serv Ctr Beijing 710600 Shaanxi Peoples R China

ISBN: (纸本)9781424417186

Integrated navigation system can help to solve the performance and application problems and limitations of the navigation equipment Data fusion technology is one of the kernel parts in integrated navigation systems. In this paper, the current advances of this technology are introduced, with the architecture of a multi-sensor navigation system given and its principles and structure presented in detail. The emphasis is laid on the discussion of the algorithms of state estimation, track association and track fusion, on the basis of which the simulation results are given. The simulation results show that targets can be tracked well and the efficiency and accuracy of the information can be enhanced by using multi-sensor data fusion technology.

关键词： Navigation systems

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Dynamic resource management for adaptive distributed information fusion in large volume surveillance

Dynamic resource management for adaptive distributed informa...

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conference on Multisensor, Multisource Information fusion

作者： Farahbod, Roozbeh Glasser, Uwe Welm, Hans Simon Fraser Univ Software Technol Lab Burnaby BC V5A 1S6 Canada MDA Corp Res & Dev Richmond BC Canada

ISBN: (纸本)9780819471659

We propose a highly adaptive and auto-configurable, multi-layer network architecture for distributed information fusion to address large volume surveillance challenges, assuming a multitude of different sensor types on multiple mobile platforms for intelligence, surveillance and reconnaissance. Our focus is on network enabled operations to efficiently manage and improve employment of a set of mobile resources, their information fusion engines and networking capabilities under dynamically changing and essentially unpredictable conditions. A high-level model of the proposed architecture is formally described in abstract functional and operational terms based on the Abstract State Machine formalism. This description of the underlying design concepts provides a concise and precise blueprint for reasoning about key system attributes at an intuitive level of understanding.

关键词： distributed systems sensor networks dynamically configurable systems resource management network architecture abstract state machines formal specification high level design

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Automatic extraction of corresponding-points for image registration

Automatic extraction of corresponding-points for image regis...

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conference on Multisensor, Multisource Information fusion

作者： Jung, Jik-Han Choi, Won-Chul Park, Dong-Jo Park, Chang-Han Lee, Jae-Ik Korea Adv Inst Sci & Technol Sch EECS 373-1 Guseong Dong Taejon 305701 South Korea Samsung Thales Co Ltd Gyeonggi South Korea

ISBN: (纸本)9780819471659

Recently, multi-sensor image fusion systems and related applications have been widely investigated. In an image fusion system, robust and accurate multi-modal image registration is essential. In the conventional method, the image registration process starts with manually-pointed corresponding pairs in both sensored images. Using these corresponding pairs, a transform matrix is initialized and refined through an optimization process. In this paper, we propose a new automatic extraction method for such corresponding pairs. The Harris comer detector is employed to extract feature points in both EO/IR images individually. Patches around the detected feature points are matched with a probabilistic criterion, mutual information (MI), which is a preferred measure for image registration due to its robust and accurate performance. Simulation results show that the proposed scheme has a low time complexity and extracts corresponding pairs well.

关键词： image fusion image registration mutual information automatic extraction

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Embedded sensor fusion System for Unmanned Vehicle Navigation

Embedded Sensor Fusion System for Unmanned Vehicle Navigatio...

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IEEE/ASME International conference on Mechatronic and Embedded Systems and applications

作者： Scherz, P. Haderer, A. Pourvoyeur, K. Stelzer, A. Johannes Kepler Univ Linz Inst Commun & Informat Engn A-4040 Linz Austria Johannes Kepler Univ Linz Christian Doppler Lab Integrated Radar Sensors A-4040 Linz Austria

ISBN: (纸本)9781424423675

This paper presents the hardware design as well as the implemented sensor fusion algorithms used for navigation purposes in unmanned systems. A design concept is illustrated that has advantages when limited space and changing demands of different unmanned systems are of particular interest. The embedded system demonstrated in this work consists of a Field Programmable Gate Array (FPGA) board in conjunction with a digital signal processor (DSP) board. By exploiting the individual properties of FPGAs and DSPs, a highly efficient system can be achieved, which is able to process more computationally complex sensor fusion algorithms like iterative sigma point Kalman filters in real time as well as more complex sensor signal processing algorithms used for pulse radar target detection. To validate the system's performance, experimental results are presented by using an unmanned aerial vehicle (UAV).

关键词： Digital signal processors

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Simultaneous Position and Number of Source Estimates using Random Set Theory

Simultaneous Position and Number of Source Estimates using R...

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conference on Advanced Signal Processing algorithms, architectures, and Implementantions XVIII

作者： Ali, Andreas M. Hudson, Ralph E. Lorenzelli, Flavio Yao, Kung Univ Calif Los Angeles EE Dept Los Angeles CA 90095 USA

ISBN: (纸本)9780819472946

Joint estimation and detection for multi-sensor and multi-target algorithms are often hybrids of both analytical and ad-hoc approaches at various levels. The intricacies of the resulting solution formulation often obscures design intuition leaving many design choices to a largely trial and error based approach. Random Finite Set Theory (RFST)(1,2) is a formal generalization of classical probability theory to the random set domain. By treating multi-target and multi-sensor jointly, RFST is able to provide a systematic theoretical framework for rigorous mathematical analysis. Because of its set theory domain, RFST is able to model the randomness of missed detection, sensor failure, target appearance and disappearance, clutter, jammer, ambiguous measurements, and other practical artifacts within its probability framework. Furthermore, a rigorous statistical framework, the Finite Set Statistics, has been developed for RFST that includes statistical operations such as: Maximum Likelihood, Bayesian prediction-correction filter, sensor fusion, and even the Cramer-Rao Lower Bound (CRB). In this paper we will apply RFST to jointly detect and locate a target in a power-aware wireless sensor network setting. We will further derive the CRB using both classical and RFST approaches as verification. Then we will use analytical results in conjunction with simulations to develop insights for choosing the design parameters.

关键词： Estimation Detection Localization fusion Multi-target sensor Network Random Set

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