TY - GEN
T1 - Sensor Calibration and Filtering for an Agent of the PL-TOON Platooning Platform
AU - Badillo, Diego
AU - Huidobro, Cristobal
AU - Villenas, Felipe
AU - Peters, Andres
AU - Vargas, Francisco
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
KW - Experimental Platform
KW - Filtering
KW - Platooning
KW - Sensing
UR - http://www.scopus.com/inward/record.url?scp=85126910395&partnerID=8YFLogxK
U2 - 10.1109/CHILECON54041.2021.9702971
DO - 10.1109/CHILECON54041.2021.9702971
M3 - Conference contribution
AN - SCOPUS:85126910395
T3 - 2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2021
BT - 2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2021
Y2 - 6 December 2021 through 9 December 2021
ER -