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건설기계 자율주행을 위한 칼만필터 기반 시스템 상태 추정
박민철(Mincheol Park),홍희승(Heeseung Hong),강민성(Monsung Kang),김동목(Dongmok Kim) 한국자동차공학회 2021 한국자동차공학회 부문종합 학술대회 Vol.2021 No.6
Nowadays, construction sites lack skilled workers due to aging. In addition, as construction work increases in extreme environments, safety must be considered. The automation of construction vehicles provides a solution to this problem. However, this automation requires a localization function to accurately estimate the state of the vehicle and a perception function to estimate the surrounding state. This paper presents sensor fusion and object tracking based on kalman filter to improve the performance of localization and perception functions of unmanned construction vehicles. The algorithm was evaluated using experimental datas and the experimental result shows good performances of state estimator.