KOLIAI, Anis (IRIMAS, Université de Haute-Alsace), Bazeille, Stephane (IRIMAS), Basset, Michel (Université de Haute Alsace - ENSISA), Orjuela, Rodolfo (Université de Haute-Alsace)

A Comparative Simulation Study of Localization Error Models for Autonomous Navigation

Scheduled for presentation during the Regular Session "Nonlinear systems, Localization and FDI " (FrA2), Friday, November 18, 2022, 09:20−09:40, 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 19, 2024

Abstract

The navigation and guidance of autonomous vehicles require precise and accurate localization. However, in some situations the use of dead reckoning localization is unavoidable, despite the fact that it introduces an accumulation of errors known as drift. This paper focuses on a comparison in simulation between three different localization drift models based on position measurement, including a proposed model. A guidance and control scheme is implemented, including the proposed drift model. Finally, results from closed loop simulation are exploited to highlight the discontinuity phenomenon caused by erroneous position measurements.