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Parameter estimation using a committee of local expert RBF networks

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3 Author(s)
Liatsis, P. ; Control Syst. Centre, Univ. of Manchester Inst. of Sci. & Technol., UK ; Kammerer, C. ; Kouremetis, G.

We propose a novel sensor fusion system for lane following in autonomous vehicle navigation. The redundant sensors are a camera positioned in front of the rear view mirror of the vehicle and a map matching system consisting of a DGPS and a digital map. A local estimate of the road curvature is obtained with the use of the extended Kalman filter, while the global estimate is obtained from the map matching system. A fuzzy logic "gating network" is used to partition the input space into clusters, each associated with a RBF expert network. Training of the complete system is carried out online. Simulation results demonstrate the superior performance of the fusion scheme.

Published in:

Intelligent Signal Processing, 2003 IEEE International Symposium on

Date of Conference:

4-6 Sept. 2003