This paper discusses the steering kinematics for a center-articulated mobile robot. Several models have been recently proposed in the literature and we use experimental data to compare and validate these models. The vehicle heading response to steering command is shown to include a dominant zero due a nonholonomic constraint, and this is verified by experiments conducted using a 30-t mobile veh...

OpenStreetMap is rapidly expanding crowd-sourced data base of world map. This data, if integrated with visual information from Google Street View would be an immense store of information without manual crowd collection. This paper proposes a method of probabilistically evaluating values of heading or camera angle of Google Street View which points directly to the entity of interest whose latitu...

This paper proposes a novel heading estimation approach for indoor pedestrian navigation using the built-in inertial sensors on a smartphone. Unlike previous approaches constraining the carrying position of a smartphone on the user's body, our approach gives the user a larger freedom by implementing automatic recognition of the device carrying position and subsequent selection of an optimal str...

Dynamic programming (DP) is a useful tool for solving many control problems, but for its complexity in computation, traditional DP control algorithms are not satisfactory in fact. So we must look for a new method which not only has the advantages of DP but also is easier in computation. In this paper, approximate dynamic programming (ADP) based controller system has been used to solve a ship he...

In marine magnetic detection, in order to improve the accuracy of measurement data field, consider impact storm interference environment, and design a weakly driven USV tracking control system, it is necessary drive complex environment determine stability tracking. First, 3-degrees freedom mathematical model built decoupled by virtue coordinate transformation rely only on absolute geographic ve...

This report presents a fuzzy multi-sensor data fusion process for combining heading estimates from three separate Kalman filters with the aim of constructing a fault tolerant navigation system for the Springer Uninhabited Surface Vehicle (USV). A single gyroscopic unit and three independent compasses are used to acquire data onboard the vessel. The inertial data from the gyroscope is combined i...

High accuracy attitude and position determination is very important for underwater gliders. The cross-coupling among three attitude angles (heading angle, pitch angle and roll angle) becomes more serious when pitch or roll motion occurs. This cross-coupling makes attitude angles inaccurate or even erroneous. Therefore, the high accuracy attitude and position determination becomes a difficult pr...

In this paper, we present a method for finding the enhanced heading and position of pedestrians by fusing the Zero velocity UPdaTe (ZUPT)-based pedestrian dead reckoning (PDR) and the kinematic constraints of the lower human body. ZUPT is a well known algorithm for PDR, and provides a sufficiently accurate position solution for short term periods, but it cannot guarantee a stable and reliable h...

Recently the applications of unmanned systems are steadily increasing. Unmanned Surface Vessels (USV) can be used for military and rescue purposes. This paper designs a Fuzzy-LQR controller for Heading control of the USV system. A new analysis of the fuzzy system behavior presented helps to make possible precise integration of LQR features into fuzzy control. This Fuzzy-LQR controller is used t...

Inexperienced helmsmen often oversteer because of the lag that occurs between changing the rudder angle and a change in the vessel’s heading. Predictive displays are a common way of mitigating the effect of lag on human control. Accordingly we developed a predictive display to show the position and heading of a vessel a short time in the future. With this display, the helmsman’s task becomes th...