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Estimation of unstabilized components in vehicular motion

This paper presents a kinetic-model based algorithm for estimating some unstabilized components in vehicular motion. In addition to smooth motion, there are unstabilized components such as bounce, pitch and roll in vehicular motion. A two-wheel vehicle model available in the literature is used to take into account the bouncing and pitching components. The dynamics of these unstabilized components are formulated using standard equations of motion. Assuming that depth information is known for some landmarks in the scene (e.g. obtained from a laser range finder) and inertial sensors such as accelerometers are available, a feature-based approach is proposed do estimate these unstabilized components. Simulation results for a stochastic terrain profile is presented.