Integrated Navigation System for Unmanned Vehicle Convoy
Andrei Mikhailovich Saikin1, Sergei Evgenevich Buznikov2, Dmitrii Sergeevich Elkin3, Vladislav Olegovich Strukov4
1Andrei Mikhailovich Saikin*, Central Scientific Research Automobile and Automotive Engines Institute “NAMI”, Moscow, Russia.
2Sergei Evgenevich Buznikov, Central Scientific Research Automobile and Automotive Engines Institute “NAMI”, Moscow, Russia.
3Dmitrii Sergeevich Elkin, Central Scientific Research Automobile and Automotive Engines Institute “NAMI”, Moscow, Russia.
41Vladislav Olegovich Strukov, Central Scientific Research Automobile and Automotive Engines institute “NAMI”, Moscow, Russia.
Manuscript received on September 18, 2019. | Revised Manuscript received on 24 September, 2019. | Manuscript published on October 10, 2019. | PP: 4021-4025 | Volume-8 Issue-12, October 2019. | Retrieval Number: L36231081219/2019©BEIESP | DOI: 10.35940/ijitee.L3623.1081219
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: This work discusses experimental results of integrated navigation system of unmanned vehicle convoy with manned master vehicle in road climatic environment of Russia. The developed navigation system is comprised of odometric system integrated with computer vision equipped with video cameras and radars. Navigation is supported by virtual sensors of parameters of center-of-mass motion, and motion path is adjusted by data of video camera and radar. The algorithms of wheel navigation system have been designed on the basis of concept of virtual data sensors. Virtual data sensors allow to solve navigation problem in minimum hardware configuration. As a consequence of the research, the operable integrated navigation system has been developed allowing detection of position of unmanned vehicles in convoy. The proposed engineering solutions have been confirmed by experimental results of navigation system for unmanned vehicle convoy with manned master vehicle in road climatic environment of Russia. The research novelty is in experimental verification of efficiency of algorithms and software of the developed integrated navigation system for unmanned vehicle convoy with manned master vehicle.
Keywords: Navigation, Integration, Mathematical Models, Virtual Sensors, Experimental Results.
Scope of the Article: Virtual Reality