Authors:
Mounir Hammouche
1
;
Samir Sakhi
1
;
Mahmoud Belhocine
2
;
Abdelhafid Elourdi
3
and
Samir Bouaziz
3
Affiliations:
1
Ecole Militaire Polytechnique, Algeria
;
2
Centre for Development of Advanced Technologies, Algeria
;
3
Laboratoire SATIE - CNRS UMR 8029 and Université Paris Saclay, France
Keyword(s):
GPS, INS, Reduced Inertial Sensor System (RISS), Kalman Filter, Fuzzy Controller.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Computational Intelligence
;
Fuzzy Control
;
Fuzzy Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Soft Computing
;
Vehicle Control Applications
Abstract:
Navigation technology has an important role in designing intelligent vehicles and advanced robots. To have a continuous navigation solution that does not suffer from interruption, GPS (Global Positioning System) data is merged with relative positioning techniques such as inertial navigation system (INS) or odometry (Odm). To accomplish the reliability and integrity desired, it is therefore necessary to take into account physical capabilities and limitations of each sensor during navigation. A fuzzy switcher controller (FSC) is well suited for this task. FSC is an Expert rule-based method for choosing the best fusion from multiple redundant integration methodologies (GPS/INS, GPS/Odometry, Odometry/INS or GPS/INS/Odometry) based on navigation conditions and accuracy of the navigation systems.