Pose determination and autonomous vehicle based on SOC

For the purpose of determining position and orientation of a moving robot and autonomous vehicle, inertial sensors and magnetometer data are computed in order to enhance GNSS (Global Navigation Satellite System) data accuracy. This paper develops a method called hybrid localization that combines absolute localization, using exteroceptive data, and dead reckoning technique, using proprioceptive data. The inertial measurement unit and magnetometers are based on MEMS digital sensors that consist of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer. ZYNQ device is chosen to be the acquisition and processing system of sensors and GNSS receiver data. The hybridisation technique uses tightly coupled approach in closed loop to reduce computation time and hardware resources. Inertial measurement unit (IMU), magnetometer and GNSS receiver are placed on the center of gravity of the moving object
 to obtain coherent results and less computation. Autonomous vehicle or autonomous robot behavior became an important factor of control. Etho robotic based control in the last years is an emerging subject of behavioral control. In was presented a behavioral language and was developed in order to support robot control. The paper intends to present behavioral control of autonomous robot based on pose determination. For implementation system on chip technology (SOC) is used.