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Sensor Fusion for the Solar Vehicle


Ph. Leemann

Semester Thesis, FS14 (10335)

The Autonomous Solar Electric Vehicle (ASEV) is a project of the Automatic Control Laboratory (IfA) at the Swiss Federal Institute of Technology (ETH). It serves as a research platform in the area of control, energy management, localization and further topics. In this project, an Inertial Measurement Unit (IMU) is used to improve the estimations of the vehicle’s states. In order to achieve this objective, a PCB of a previous project is used to interface with the sensors. Calibration and sensor fusion algorithms are introduced and implemented on the aforementioned PCB to get estimates of the vehicle’s orientation and position. In previous projects, the estimates relied on Hall-sensors in the wheels, rotor observers and odometry. Due to the integration of measurements of angular velocities of the wheels, this method is sensitive to errors and not capable of including the slip of the wheels. Therefore, a second sensor fusion algorithm is presented to fuse the state estimates obtained with the IMU with those obtained with odometry. The resulting state estimates can then be used for the already implemented H1 controller or for an MPC controller which may be the topic of a successive project.


Type of Publication:

(13)Semester/Bachelor Thesis

D. Frick

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2014:IFA_4870
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