OUBOUABDELLAH, Selma Nourhane (IRIMAS University Haute-Alsace), Bazeille, Stephane (IRIMAS), Mourllion, Benjamin (Université de Haute-Alsace), Ledy, Jonathan (IRIMAS-UHA)

Localization and Navigation of an Autonomous Vehicle in Case of GPS Signal Loss

Scheduled for presentation during the Regular Session "Nonlinear systems, Localization and FDI " (FrA2), Friday, November 18, 2022, 10:00−10:20, ROOM - E 210

16th European Workshop on Advanced Control and Diagnosis, November 16-18, 2022, Nancy, France

This information is tentative and subject to change. Compiled on April 18, 2024

Abstract

In recent years, autonomous vehicles have become an axis of academic and industrial research. Localizing these vehicles without a GPS signal represents a challenge for researchers, because the other sensors are usually less accurate, less fast and require more computation. Among localization methods, dead reckoning ones do not need prior knowledge and are easier to implement for real time purposes. However, their biggest flaw is the accumulation of errors over time. In this work, we present an onboard localization method of an autonomous vehicle for short time navigation without GPS. We developed a method of high rate inertial-visual data fusion module that allows locating the vehicle in real-time. This method has been validated offline and tested online in a path following control loop on our experimental vehicle.