Abstract
A navigation system has been designed and realised for a moving machine to autonomously navigate along a narrow path on uneven terrain. Navigation based only on visual road following was considered too unreliable especially in winter time. The combination of dead reckoning system and visual landmark detection was considered as a potential solution. Kalman filter is used to combine the odometer and camera position measurements. The navigation system has been realised using Honda ATV as a test bed. Piloting and navigation systems of Honda are described as well as preliminary results of outdoor tests.
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