Sensor Calibration and Filtering for an Agent of the PL-TOON Platooning Platform

Diego Badillo, Cristobal Huidobro, Felipe Villenas, Andres Peters, Francisco Vargas

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper reports techniques that improve the performance of the sensors of an experimental autonomous agent, which travels on tracks, part of the PL-TOON platform. These small agents of the platform can be used to build a platooning experimental setup, as they are able to track a follower, measure their own speed and communicate wirelessly with other agents of the platoon, enabling the implementation of cooperative formation control strategies for teaching and research. The improvements to the embedded software of the agents presented here focus on calibrating the sensors and identifying a dynamical model for the agents, filtering noise, and removing erroneous measurements that can appear under unfavorable environmental conditions for the sensors. The techniques were validated through experiments which we also report in this work.

Original languageEnglish
Title of host publication2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665408738
DOIs
StatePublished - 2021
Externally publishedYes
Event2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2021 - Virtual, Online, Chile
Duration: 6 Dec 20219 Dec 2021

Publication series

Name2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2021

Conference

Conference2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2021
Country/TerritoryChile
CityVirtual, Online
Period6/12/219/12/21

Keywords

  • Experimental Platform
  • Filtering
  • Platooning
  • Sensing

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