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Dec
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20
24
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52
In
d
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J
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&
C
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p
Sci
,
Vo
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3
6
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No
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3
,
Dec
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b
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20
24
:
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7
3
9
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1
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4
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ate
s
y
s
tem
th
at
m
ay
b
e
u
s
ed
f
o
r
th
e
v
is
u
al
SLAM
tech
n
iq
u
e.
At
th
e
f
in
al,
an
in
v
er
s
e
co
o
r
d
in
ate
ap
p
r
o
ac
h
is
u
s
ed
in
o
r
d
er
to
d
eter
m
in
e
t
h
e
p
o
s
itio
n
u
s
in
g
t
h
e
g
lo
b
al
co
o
r
d
in
ate
s
y
s
tem
.
T
h
e
d
ata
f
r
o
m
t
h
e
in
-
v
eh
icle
s
en
s
o
r
s
ar
e
co
m
b
in
ed
with
th
e
d
ata
f
r
o
m
t
h
e
co
o
p
er
ativ
e
m
u
ltip
le
-
m
o
d
el
e
x
ten
d
ed
Kalm
an
f
ilter
b
y
th
e
k
in
em
atic
an
d
d
y
n
a
m
ic
v
eh
i
cle
m
o
d
els.
T
h
is
is
p
er
f
o
r
m
ed
to
e
n
h
an
ce
th
e
p
o
s
itio
n
in
g
ac
cu
r
ac
y
[
9
]
.
T
h
e
GPS
p
o
s
itio
n
in
g
er
r
o
r
s
ar
e
r
ea
s
o
n
b
y
s
ev
er
al
c
o
m
p
o
n
en
ts
lik
e
m
u
ltip
ath
,
im
p
r
ess
iv
e
d
elay
s
,
clo
ck
-
o
f
f
s
et
er
r
o
r
s
,
an
d
s
ig
n
al
s
r
ef
lectio
n
f
r
o
m
ad
jace
n
t
b
u
i
ld
in
g
walls.
K
-
m
ea
n
s
clu
s
ter
in
g
an
d
q
u
a
r
tiles
to
m
in
im
ize
th
e
m
is
tak
es
b
ec
au
s
e
o
f
it
u
s
in
g
m
u
ltip
ath
.
I
n
a
d
d
itio
n
,
a
g
eo
m
et
r
ic
ap
p
r
o
ac
h
u
s
es
a
laser
r
an
g
e
s
en
s
o
r
o
n
th
e
to
p
o
f
an
au
to
n
o
m
o
u
s
v
eh
icle.
I
t
r
ec
o
g
n
izes
th
e
r
ef
lecte
d
GPS
s
ig
n
als
as
a
cc
u
r
ate
f
o
r
p
lacin
g
er
r
o
r
s
b
ec
a
u
s
e
o
f
r
ef
lectio
n
s
f
r
o
m
t
h
e
b
u
ild
in
g
f
ac
ad
e
s
.
I
t
im
p
r
o
v
es
lo
ca
lizatio
n
ac
cu
r
ac
y
i
n
u
r
b
an
en
v
ir
o
n
m
en
ts
[
1
0
]
.
A
ty
p
ical
s
o
f
twar
e
f
r
am
ewo
r
k
a
n
d
s
et
o
f
r
u
les
f
o
r
th
e
ex
ec
u
tio
n
o
f
au
to
n
o
m
o
u
s
v
eh
icles
in
o
r
d
er
to
lo
ca
lize
a
n
d
m
ap
its
lo
ca
tio
n
s
.
T
h
e
co
n
ce
p
t
b
eh
in
d
th
e
au
to
m
o
tiv
e
o
p
en
s
y
s
tem
ar
ch
itectu
r
e
,
wh
ich
is
a
s
tan
d
ar
d
s
o
f
twar
e
p
latf
o
r
m
f
o
r
au
to
m
o
b
iles
,
p
r
o
v
id
es
s
u
p
p
o
r
t
f
o
r
th
e
g
en
er
al
s
o
f
twar
e
p
latf
o
r
m
th
at
is
u
s
ed
f
o
r
lo
ca
lizatio
n
a
n
d
m
ap
p
in
g
.
T
h
e
m
eth
o
d
o
f
d
ev
elo
p
in
g
s
o
f
twar
e
m
ak
es
u
s
e
o
f
th
e
ex
ec
u
tio
n
g
u
id
elin
es
p
r
o
v
id
e
d
b
y
th
e
s
o
f
twar
e
u
s
ed
f
o
r
l
o
ca
lizatio
n
an
d
m
a
p
p
in
g
.
Fo
r
th
e
o
b
jectiv
e
o
f
in
te
n
d
in
g
th
e
g
en
er
al
s
o
f
twar
e
p
latf
o
r
m
,
lo
c
aliza
tio
n
an
d
m
a
p
p
in
g
g
r
a
p
h
s
tr
u
ctu
r
e
h
as b
ee
n
ap
p
lied
[
1
1
]
.
T
h
e
o
b
jectiv
e
o
f
th
e
t
r
ac
k
in
g
p
latf
o
r
m
s
o
lu
tio
n
f
o
r
an
a
u
to
n
o
m
o
u
s
v
e
h
icles
lo
ca
lizatio
n
p
r
o
g
r
am
m
e
is
to
an
aly
ze
a
n
d
ar
r
an
g
e
m
ac
h
in
e
an
d
d
ee
p
lear
n
in
g
m
eth
o
d
s
with
th
e
aim
o
f
en
h
a
n
cin
g
an
d
ac
h
iev
in
g
th
e
co
n
s
is
ten
cy
,
ac
cu
r
ac
y
,
an
d
r
o
b
u
s
tn
ess
th
at
is
r
eq
u
ir
ed
at
lo
w
-
co
s
t
GPS/
I
MU
d
ev
ices
[
1
2
]
.
T
h
e
o
b
jectiv
e
o
f
co
o
p
er
ativ
e
r
o
u
tin
g
is
to
ex
ten
d
th
e
life
tim
e
o
f
th
e
n
etwo
r
k
an
d
r
ed
u
ce
t
h
e
co
s
t
o
f
r
o
u
te
d
etec
tio
n
.
T
o
en
h
an
ce
en
er
g
y
ef
f
icien
c
y
an
d
p
r
o
v
i
d
e
a
way
to
s
o
lv
e
th
e
is
s
u
e
o
f
d
ea
d
n
o
d
es,
th
is
tech
n
iq
u
e
m
ak
es
u
s
e
o
f
th
e
f
r
esh
er
e
n
co
u
n
ter
alg
o
r
ith
m
[
1
3
]
.
C
o
m
m
u
tato
r
f
o
r
m
u
ltip
le
p
ath
d
elay
s
In
o
r
d
e
r
to
in
cr
ea
s
e
b
o
th
th
e
th
r
o
u
g
h
p
u
t a
n
d
th
e
s
p
ee
d
,
th
e
Fas
t
Fo
u
r
ier
tr
an
s
f
o
r
m
h
as
b
ee
n
s
u
g
g
ested
[
1
4
]
.
Satellite
-
b
ased
,
r
ad
io
f
r
eq
u
en
cy
-
b
ased
,
r
a
d
io
w
av
e
-
b
ased
,
o
p
tical
-
b
ased
,
an
d
s
o
u
n
d
-
b
ased
lo
ca
tin
g
tech
n
o
lo
g
ies
ar
e
th
e
f
iv
e
c
ateg
o
r
ies
th
at
m
ak
e
u
p
t
h
e
class
if
icatio
n
s
y
s
tem
f
o
r
v
e
h
icle
lo
ca
lizatio
n
in
in
te
llig
en
t
tr
an
s
p
o
r
tatio
n
m
et
h
o
d
lo
ca
tin
g
tech
n
o
l
o
g
ies.
B
o
th
tech
n
o
lo
g
ies
th
at
ar
e
b
ased
o
n
s
atellites
an
d
tech
n
o
l
o
g
ies
th
at
ar
e
b
ased
o
n
ce
llu
la
r
n
etwo
r
k
s
ar
e
o
cc
u
r
r
in
g
as
p
o
ten
tial
s
o
lu
tio
n
s
to
th
e
d
if
f
icu
lties
th
at
ar
e
co
n
n
ec
ted
with
v
eh
icle
p
o
s
itio
n
in
g
.
C
ellu
lar
-
b
ased
s
y
s
tem
s
ca
n
d
eliv
er
ac
cu
r
ate
an
d
r
eliab
le
v
eh
icle
l
o
ca
lizatio
n
in
an
u
r
b
a
n
s
ettin
g
;
t
h
e
y
c
a
n
s
u
p
p
o
r
t
n
o
n
-
l
i
n
e
-
of
-
s
i
g
h
t
p
o
s
i
t
i
o
n
i
n
g
a
n
d
o
f
f
e
r
e
x
t
e
n
s
i
v
e
c
o
v
e
r
a
g
e
a
n
d
h
i
g
h
d
a
t
a
c
o
m
m
u
n
i
c
a
t
i
o
n
[
1
5
]
.
Satelli
t
e
-
b
ased
s
y
s
tem
s
ca
n
o
f
f
er
ac
c
u
r
ate
p
o
s
itio
n
in
g
i
n
an
o
p
en
o
u
td
o
o
r
s
ettin
g
,
b
u
t
ce
llu
lar
-
b
ased
s
y
s
tem
s
ca
n
d
eliv
er
th
is
i
n
a
n
u
r
b
an
s
ettin
g
.
Platfo
r
m
th
a
t
au
to
m
atica
lly
ad
ju
s
ted
its
elf
an
d
ex
p
lain
ed
th
e
s
elf
-
b
alan
c
in
g
attitu
d
es.
T
h
e
p
h
y
s
ical
p
r
o
to
ty
p
e
o
f
th
e
s
elf
-
b
alan
cin
g
p
latf
o
r
m
ex
h
i
b
its
o
u
ts
tan
d
in
g
b
ala
n
cin
g
ac
c
u
r
ac
y
an
d
m
ee
ts
o
p
er
atio
n
al
r
e
q
u
i
r
em
en
ts
d
esp
ite
th
e
p
latf
o
r
m
'
s
s
im
p
le
d
esig
n
[
1
6
]
.
I
n
th
is
p
ap
er
,
we
h
av
e
d
ev
e
lo
p
ed
a
p
r
o
to
ty
p
e
f
o
r
two
a
p
p
licatio
n
s
.
T
h
e
f
ir
s
t
ap
p
lica
tio
n
was
id
en
tify
in
g
th
e
r
o
a
d
tu
r
n
in
g
u
s
in
g
th
e
ca
m
er
a
alo
n
e.
T
h
e
s
ec
o
n
d
ap
p
licatio
n
was
p
at
h
f
o
llo
win
g
m
eth
o
d
o
lo
g
y
u
s
in
g
th
e
Go
o
g
le
m
a
p
ap
p
licatio
n
p
r
o
g
r
am
m
i
n
g
in
te
r
f
ac
e
(
API
)
.
T
h
e
en
v
ir
o
n
m
en
t
s
h
o
u
l
d
h
av
e
th
e
f
o
llo
win
g
s
etu
p
in
s
talled
,
an
d
th
e
n
ex
t
s
tep
s
s
h
o
u
ld
b
e
f
o
llo
wed
f
o
r
th
e
n
ew
en
v
ir
o
n
m
e
n
t.
I
t
co
n
s
is
t
s
o
f
an
HM
-
10
b
ea
co
n
m
o
d
u
le
in
s
talled
at
e
v
er
y
r
o
a
d
c
o
r
n
e
r
,
tu
r
n
in
g
s
,
an
d
s
ig
n
al
,
with
a
u
n
iq
u
e
ad
d
r
ess
.
T
h
e
au
to
n
o
m
o
u
s
v
eh
icle
co
m
p
r
is
es
o
f
B
ea
co
n
m
o
d
u
le
with
th
e
r
asp
b
e
r
r
y
p
i
an
d
L
o
R
a
f
o
r
V2
V
co
m
m
u
n
ic
atio
n
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
h
as
b
ee
n
ac
h
iev
ed
in
th
e
f
o
r
m
o
f
a
p
r
o
to
ty
p
e
m
o
d
el
,
wh
ich
h
as
an
HM
-
1
0
m
o
d
u
l
e
an
d
o
p
er
ates
at
a
v
o
ltag
e
o
f
1
2
v
o
lts
.
B
y
f
o
llo
w
in
g
to
th
e
p
r
o
ce
d
u
r
es
o
u
tlin
ed
in
th
e
f
lo
wch
a
r
t,
th
is
en
tire
a
r
ch
itectu
r
e
m
ay
b
e
tr
an
s
f
er
r
ed
o
v
er
t
o
an
y
elec
tr
ic
v
eh
icle.
2.
B
ACK
G
RO
UND
O
F
T
E
CH
NO
L
O
G
I
E
S B
E
H
I
ND
H
I
G
H
E
R
ACCU
R
ACY
L
O
C
AL
I
Z
A
T
I
O
N
I
N
CL
O
S
E
D
E
N
VIRO
N
M
E
NT
T
h
e
clo
s
ed
en
v
ir
o
n
m
en
t
will
h
av
e
a
s
p
ee
d
lim
it
o
f
2
5
k
m
p
h
(
f
o
r
all
v
eh
icles),
an
d
ad
e
q
u
ate
lan
e
m
ar
k
in
g
s
h
o
u
ld
b
e
estab
lis
h
ed
th
r
o
u
g
h
o
u
t
th
e
r
eg
i
o
n
[
1
7
]
,
[
1
8
]
.
E
x
am
p
les
in
clu
d
e
th
e
s
u
r
r
o
u
n
d
in
g
s
o
f
p
lace
s
lik
e
am
u
s
em
en
t
p
ar
k
s
,
u
n
iv
er
s
ities
,
an
d
h
o
s
p
itals
.
Fig
u
r
e
1
d
em
o
n
s
tr
ates
th
e
p
lace
m
en
t
o
f
th
e
b
ea
c
o
n
m
o
d
u
le
in
a
clo
s
ed
en
v
i
r
o
n
m
e
n
t m
ap
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
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J
E
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n
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&
C
o
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p
Sci
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2
5
0
2
-
4
7
52
A
lo
w
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s
t lo
ca
liz
a
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meth
o
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in
a
u
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h
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(
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1741
Fig
u
r
e
1
.
Placem
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o
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ea
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o
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m
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d
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i
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s
ed
e
n
v
ir
o
n
m
en
t m
a
p
T
h
e
HM
-
10
B
lu
eto
o
th
lo
w
en
er
g
y
m
o
d
u
le
is
u
s
ed
as
a
b
ea
c
o
n
m
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d
u
le.
I
t
o
p
er
ates
at
3
.
3
v
o
lts
,
an
d
th
e
m
ax
im
u
m
r
an
g
e
is
u
p
t
o
1
0
0
m
eter
s
in
o
p
en
s
p
ac
e.
I
t
illu
s
tr
ates
th
e
p
lace
m
en
t
o
f
th
e
b
ea
co
n
m
o
d
u
le
in
ev
er
y
r
o
ad
tu
r
n
in
g
s
an
d
m
ee
ti
n
g
p
o
i
n
t
[
1
9
]
.
T
h
is
m
o
d
u
le
ca
n
b
e
o
p
e
r
ated
in
s
tan
d
b
y
m
o
d
e,
an
d
with
a
p
o
wer
s
u
p
p
ly
f
r
o
m
a
C
R
2
4
5
0
b
atter
y
,
th
e
o
p
e
r
atin
g
life
cy
cle
f
o
r
th
e
b
atter
y
is
ar
o
u
n
d
o
n
e
y
ea
r
.
Fig
u
r
e
2
illu
s
tr
ates
th
e
s
tep
s
to
co
n
f
ig
u
r
e
th
e
HM
-
1
0
m
o
d
u
le
as a
b
ea
c
o
n
[
2
0
]
.
Fig
u
r
e
2
.
C
o
n
f
ig
u
r
atio
n
o
f
HM
-
1
0
as B
ea
co
n
E
v
er
y
HM
-
1
0
m
o
d
u
le
h
as
u
n
iq
u
e
2
4
b
y
tes
UUI
D
ad
d
r
es
s
.
T
h
ese
ad
d
r
ess
es
ar
e
s
p
lit
in
to
th
r
ee
s
eg
m
en
ts
.
E
v
er
y
s
eg
m
en
t
is
co
n
f
ig
u
r
ed
b
y
co
m
m
a
n
d
AT
+I
B
E
0
…I
B
E
2
.
T
h
e
R
asp
b
er
r
y
Pi
is
u
s
ed
as
a
v
eh
icle
co
n
tr
o
ller
an
d
h
as
a
G
o
o
g
le
m
a
p
API
p
ac
k
a
g
e
[
2
1
]
.
W
h
en
th
e
u
s
er
wan
ts
to
g
o
to
a
d
esti
n
atio
n
p
o
i
n
t
in
a
clo
s
ed
en
v
ir
o
n
m
en
t
,
th
e
u
s
er
ca
n
e
n
ter
th
e
d
esti
n
atio
n
lo
ca
tio
n
i
n
GUI
.
Fr
o
m
Go
o
g
le
m
ap
s
API
,
t
h
e
co
n
tr
o
ller
r
ec
eiv
es
th
e
p
ath
t
o
th
e
d
esti
n
atio
n
in
J
SON
f
o
r
m
at.
Fig
u
r
e
3
in
d
icate
s
th
e
J
SON
f
o
r
m
at
f
o
r
th
e
g
o
al
[
2
2
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
In
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
6
,
No
.
3
,
Dec
em
b
er
20
24
:
1
7
3
9
-
1
7
4
9
1742
Fig
u
r
e
3
.
J
S
ON
f
o
r
m
at
f
o
r
th
e
d
esti
n
atio
n
f
r
o
m
Go
o
g
le
m
ap
s
API
2
.
1
.
Alg
o
rit
hm
f
o
r
bea
co
n
m
a
pp
ing
E
v
er
y
co
r
n
er
an
d
cr
ev
ice
h
as
a
b
ea
co
n
m
o
d
u
le
in
s
talled
,
wh
ich
s
en
d
s
o
u
t
its
o
wn
u
n
i
q
u
e
v
alu
e.
At
th
e
in
itially
,
th
e
v
eh
icle
is
d
r
iv
en
m
a
n
u
ally
wh
ile
in
th
e
l
ea
r
n
in
g
m
o
d
e
s
o
th
at
th
e
co
n
t
r
o
ller
ca
n
co
u
n
t
th
e
s
p
ec
if
ic
n
u
m
b
er
o
f
b
ea
co
n
s
l
o
ca
ted
in
ea
ch
o
f
th
e
co
r
n
er
s
.
W
h
en
th
e
m
ap
p
in
g
h
as
b
ee
n
co
m
p
leted
in
its
en
tire
ty
,
th
e
ca
r
will
b
e
p
u
t
in
to
an
au
t
o
m
atic
d
r
iv
i
n
g
m
o
d
e
[
2
3
]
.
Fig
u
r
e
4
s
h
o
ws
th
e
l
ea
r
n
in
g
m
o
d
e,
wh
ich
allo
ws th
e
o
b
s
er
v
er
to
m
o
n
ito
r
th
e
b
ea
co
n
v
alu
es.
Fig
u
r
e
4
.
L
ea
r
n
in
g
m
o
d
e
to
o
b
s
er
v
e
th
e
b
ea
co
n
v
alu
es
2
.
2
.
Da
t
a
f
us
io
n bet
wee
n G
o
o
g
le
ma
ps
a
nd
b
ea
co
n m
o
du
le
em
is
s
io
n
I
n
o
u
r
r
esear
c
h
,
h
ig
h
e
r
ac
cu
r
a
cy
ca
n
b
e
ac
h
iev
ed
b
y
d
ata
f
u
s
io
n
b
etwe
en
J
SON
f
r
o
m
Go
o
g
le
m
ap
s
API
an
d
th
e
b
ea
co
n
m
o
d
u
le.
Fig
u
r
e
5
e
x
p
lain
s
th
e
lo
ca
liza
tio
n
o
f
t
h
e
v
e
h
icle
in
a
n
o
r
m
a
l
s
ce
n
ar
io
.
Fig
u
r
e
5
d
en
o
tes
th
e
s
ce
n
ar
io
wh
er
e
th
e
v
eh
icle
is
m
o
v
in
g
to
war
d
s
th
e
d
esti
n
atio
n
p
o
in
t,
a
n
d
it
n
e
ed
s
to
g
o
s
tr
aig
h
t
f
o
r
4
4
m
eter
s
in
s
tr
aig
h
t
an
d
tak
es
a
lef
t
tu
r
n
to
r
ea
ch
th
e
d
e
s
tin
atio
n
.
Fig
u
r
e
6
I
llu
s
tr
ates
th
e
d
ata
m
ap
p
in
g
alg
o
r
ith
m
f
o
r
a
v
eh
icle
to
r
ea
c
h
th
e
d
esti
n
atio
n
p
lace
[
2
4
]
.
T
h
e
v
eh
icle
h
as
a
b
ea
co
n
r
ec
e
i
v
er
an
d
tr
an
s
m
itter
i
n
t
h
e
c
o
r
n
e
r
o
f
t
h
a
t
r
o
a
d
.
T
h
e
b
e
a
c
o
n
t
r
a
n
s
m
i
tt
e
r
is
i
n
a
d
v
e
r
t
is
i
n
g
m
o
d
e
a
n
d
e
m
i
ts
a
u
n
i
q
u
e
U
U
I
D
n
u
m
b
e
r
[
2
5
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
A
lo
w
-
co
s
t lo
ca
liz
a
tio
n
meth
o
d
in
a
u
t
o
n
o
mo
u
s
ve
h
icle
b
y
a
p
p
lyin
g
lig
h
t
…
(
R
a
ju
J
a
g
a
d
ee
s
h
K
a
n
n
a
n
)
1743
Fig
u
r
e
5
.
L
o
ca
lizatio
n
o
f
v
eh
i
cles in
a
n
o
r
m
al
s
ce
n
ar
i
o
Fro
m
th
e
a
b
o
v
e
c
o
n
d
itio
n
m
e
n
tio
n
ed
in
f
ig
u
r
e
,
th
e
co
n
tr
o
ll
er
r
ec
eiv
es
th
e
d
esti
n
atio
n
p
a
th
d
ata
in
J
SON
f
o
r
m
at
lik
e
in
Fig
u
r
e
6
.
Sin
ce
th
e
GPS
ac
cu
r
ac
y
is
+
-
1
0
m
eter
s
,
th
e
v
eh
icle
ca
lcu
lates
th
e
d
is
tan
ce
co
v
er
ed
in
p
ar
allel
[
2
6
]
.
Fro
m
J
SON,
it
p
ar
s
es
th
e
f
ir
s
t
k
ey
,
wh
e
r
e
th
e
v
e
h
icle
n
ee
d
s
to
m
o
v
e
1
2
m
ete
r
s
s
tr
aig
h
t,
an
d
it
k
ee
p
s
m
ea
s
u
r
in
g
th
e
d
is
tan
ce
co
v
e
r
ed
b
y
g
ettin
g
th
e
d
ata
f
r
o
m
th
e
tac
h
o
m
et
er
.
On
ce
it
r
ea
ch
es
th
e
1
2
-
m
eter
co
v
er
ag
e
,
it
p
r
o
c
ess
es
th
e
f
o
llo
win
g
k
e
y
.
T
h
e
n
ex
t
k
ey
d
en
o
tes
th
at
th
e
v
eh
icl
e
n
ee
d
s
to
t
u
r
n
lef
t
af
ter
r
ea
ch
in
g
3
2
m
eter
s
[
2
7
]
.
Fig
u
r
e
6
.
Data
m
a
p
p
in
g
alg
o
r
i
th
m
On
ce
it
r
ea
ch
es
th
e
tu
r
n
,
it
r
e
ce
iv
es
th
e
s
ig
n
al
f
r
o
m
t
h
e
b
e
ac
o
n
m
o
d
u
le.
B
ased
o
n
r
ec
eiv
ed
s
ig
n
a
l
s
tr
en
g
th
in
d
icato
r
(
R
SS
I
)
,
it
c
alcu
lates
th
e
d
is
tan
ce
b
etwe
e
n
th
e
v
eh
icle
an
d
th
e
b
ea
co
n
tr
an
s
m
itter
.
So
,
th
e
v
eh
icle
will c
o
r
r
ec
t th
e
tach
o
m
eter
m
ea
s
u
r
em
en
t e
r
r
o
r
an
d
GPS er
r
o
r
.
Usi
n
g
th
is
m
eth
o
d
,
th
e
v
eh
icle
ca
n
tak
e
a
lef
t tu
r
n
with
o
u
t a
n
y
f
ailu
r
e
[
2
8
]
,
[
2
9
]
.
3.
ARCH
I
T
E
C
T
UR
E
O
VE
R
V
I
E
W
T
h
e
m
ain
o
b
jectiv
e
o
f
s
en
s
o
r
f
u
s
io
n
in
ar
ch
itectu
r
e
is
lo
ca
lizatio
n
with
v
er
y
less
er
r
o
r
.
T
h
e
co
n
tr
o
ller
is
p
r
o
g
r
am
m
ed
to
h
av
e
a
d
if
f
er
en
t
ca
ll
t
h
r
ea
d
f
o
r
ea
ch
s
en
s
o
r
in
p
u
t
s
o
t
h
at
it
c
an
b
e
r
u
n
p
ar
allel.
Fig
u
r
e
7
d
e
n
o
tes th
e
p
r
o
to
ty
p
e
o
f
an
a
u
to
n
o
m
o
u
s
v
e
h
icle.
I
n
a
clo
s
ed
en
v
ir
o
n
m
en
t,
an
e
lectr
ic
v
eh
icle
s
tatio
n
b
o
x
co
n
s
is
ts
o
f
b
ea
co
n
a
n
d
GPS
wit
h
a
3
2
-
b
it
Mic
r
o
co
n
tr
o
ller
.
T
h
e
s
tatio
n
b
o
x
is
in
s
talled
at
v
a
r
io
u
s
p
lac
es
in
a
clo
s
ed
e
n
v
ir
o
n
m
en
t;
th
e
E
V
s
er
v
er
tr
ac
k
s
th
e
GPS
lo
ca
tio
n
o
f
th
e
v
e
h
icle.
T
h
e
v
e
h
icle
m
o
v
es
in
au
to
m
ated
d
r
iv
i
n
g
m
o
d
e
with
t
h
e
h
elp
o
f
th
e
B
ea
co
n
.
Fig
u
r
e
8
d
e
n
o
tes
th
e
co
m
p
o
n
en
ts
p
r
esen
t
in
th
e
p
r
o
to
ty
p
e
m
o
d
el.
R
asp
b
er
r
y
P
i
3
is
u
s
ed
as
a
v
eh
icle
co
n
tr
o
ller
an
d
is
p
o
wer
ed
b
y
a
5
V
p
o
wer
b
a
n
k
.
I
t
h
as
eig
h
t
m
eg
ap
i
x
el
R
asp
b
er
r
y
P
i
v
er
s
io
n
2
ca
m
e
r
as.
A
1
0
Am
p
s
d
u
al
ch
an
n
el
m
o
to
r
co
n
tr
o
ller
co
n
tr
o
ls
th
e
two
D
C
m
o
to
r
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
In
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
6
,
No
.
3
,
Dec
em
b
er
20
24
:
1
7
3
9
-
1
7
4
9
1744
F
ig
u
r
e
7
.
Pro
t
o
ty
p
e
o
f
a
u
t
o
n
o
m
o
u
s
v
eh
icle
Fig
u
r
e
8
.
C
o
m
p
o
n
en
ts
in
t
h
e
p
r
o
to
ty
p
e
m
o
d
el
Fig
u
r
e
9
is
th
e
co
m
p
lete
f
u
n
ctio
n
al
o
v
er
v
iew
o
f
o
u
r
r
esear
ch
.
W
e
h
av
e
s
im
u
lated
ea
ch
b
ea
co
n
m
o
d
u
le
f
r
o
m
th
e
an
d
r
o
i
d
ap
p
.
T
h
ese
ap
p
licatio
n
s
ar
e
co
m
m
o
n
ly
a
v
ailab
le
in
th
e
an
d
r
o
id
p
la
y
s
to
r
e
to
tr
an
s
m
it
d
ata
to
a
n
o
th
er
B
lu
eto
o
th
m
o
d
u
le.
I
n
a
s
im
u
latio
n
,
we
h
a
v
e
g
en
er
ate
d
a
d
if
f
e
r
e
n
t
m
ess
ag
e
with
a
u
n
iq
u
e
I
D
th
at
in
d
icate
s
th
e
UUI
D
[
3
0
]
,
[
3
1
]
.
Her
e
t
h
e
m
aster
co
n
tr
o
ller
is
R
asp
b
er
r
y
Pi
3
,
an
d
th
e
s
ec
o
n
d
ar
y
co
n
tr
o
ller
is
Atm
eg
a
3
2
8
.
T
h
e
s
ec
o
n
d
ar
y
co
n
tr
o
ller
m
ea
s
u
r
e
s
th
e
d
is
tan
ce
u
s
in
g
a
s
er
ies
o
f
u
ltra
s
o
n
ic
s
en
s
o
r
s
.
I
f
an
y
o
b
s
tacle
is
d
etec
ted
,
t
h
e
s
ec
o
n
d
a
r
y
co
n
tr
o
ller
s
en
d
s
a
war
n
i
n
g
m
ess
ag
e
to
t
h
e
m
ain
co
n
tr
o
ller
,
a
n
d
b
ased
o
n
th
e
v
ar
io
u
s
p
atter
n
s
,
th
e
m
ain
co
n
tr
o
ller
tak
es th
e
d
ec
is
io
n
[
3
2
]
,
[
3
3
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
A
lo
w
-
co
s
t lo
ca
liz
a
tio
n
meth
o
d
in
a
u
t
o
n
o
mo
u
s
ve
h
icle
b
y
a
p
p
lyin
g
lig
h
t
…
(
R
a
ju
J
a
g
a
d
ee
s
h
K
a
n
n
a
n
)
1745
Fig
u
r
e
9
.
Fu
n
ctio
n
ality
o
v
er
v
i
ew
4.
DIS
CU
SS
I
O
N
I
n
f
u
r
th
er
r
esear
ch
,
v
eh
icle
l
o
ca
lizatio
n
ca
n
b
e
im
p
le
m
en
t
ed
in
n
o
r
m
al
r
o
ad
co
n
d
itio
n
s
wh
er
e
th
e
n
u
m
b
er
o
f
v
eh
icles
will
b
e
h
i
g
h
a
n
d
th
e
v
eh
icle
s
p
ee
d
is
li
m
ited
to
6
0
k
m
p
h
,
as
s
h
o
w
n
in
Fig
u
r
e
10
.
V2
V
co
m
m
u
n
icatio
n
an
d
v
eh
icle
-
to
-
in
f
r
astru
ctu
r
e
co
m
m
u
n
icati
o
n
is
im
p
lem
en
ted
a
cr
o
s
s
th
e
r
eg
io
n
t
o
m
ak
e
it
f
aster
r
esp
o
n
s
e.
V2
V
co
m
m
u
n
icatio
n
an
d
r
ea
r
v
iew
ca
m
e
r
as
s
h
all
b
e
m
ad
e
m
an
d
ato
r
y
to
ac
h
iev
e
a
c
o
s
t
-
ef
f
ec
tiv
e
au
to
n
o
m
o
u
s
ar
ch
ite
ctu
r
e
in
n
o
r
m
al
co
n
d
itio
n
s
[
3
4
]
.
T
h
e
R
asp
b
er
r
y
Pi
will
n
o
t
b
e
s
u
f
f
icien
t
f
o
r
p
r
o
ce
s
s
in
g
th
e
im
ag
e
at
a
h
i
g
h
er
s
p
ee
d
r
ate.
Pro
ce
s
s
o
r
s
lik
e
Nv
id
ia
J
e
ts
o
n
s
h
o
u
ld
b
e
u
s
ed
in
s
tead
o
f
r
asp
b
er
r
y
.
T
ab
le
1
r
ep
r
esen
ts
th
e
co
m
p
ar
is
o
n
b
etwe
en
th
e
t
h
r
ee
p
r
o
ce
s
s
o
r
s
.
B
ased
o
n
GPU
ca
p
a
b
ilit
y
,
th
e
p
r
o
ce
s
s
o
r
s
h
o
u
ld
b
e
d
ec
id
ed
.
Fig
u
r
e
1
0
.
Ar
ch
itectu
r
e
o
v
er
v
iew
f
o
r
v
e
h
icle
s
p
ee
d
lim
ited
t
o
6
0
kmph
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
In
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
6
,
No
.
3
,
Dec
em
b
er
20
24
:
1
7
3
9
-
1
7
4
9
1746
T
ab
le
1
.
Pro
ce
s
s
o
r
c
o
m
p
ar
is
o
n
P
a
r
a
me
t
e
r
s
R
o
c
k
P
i
N
1
0
(
M
o
d
e
l
A
/
B
/
C
)
R
a
s
p
b
e
r
r
y
P
i
Jet
s
o
n
N
a
n
o
C
P
U
Q
u
a
d
-
C
o
r
t
e
x
-
A
7
2
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1
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8
G
H
z
&
q
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a
d
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o
r
t
e
x
-
A
5
3
1
.
4
GHz
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u
a
d
-
A
R
M
C
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r
e
-
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7
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5
GHz
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a
d
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t
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b
i
t
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4
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G
P
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T8
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r
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c
o
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I
(
3
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i
t
)
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k
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c
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-
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P
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-
1
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4
,
V
P
S
T
ab
le
2
r
ep
r
esen
ts
th
e
av
er
a
g
e
co
s
t
o
f
L
I
DAR
tech
n
o
lo
g
y
i
m
p
lem
en
ted
i
n
th
e
au
to
n
o
m
o
u
s
v
eh
icle.
W
h
er
e
th
e
p
r
o
p
o
s
ed
lo
w
-
c
o
s
t
lo
ca
lizatio
n
will
co
s
t
ar
o
u
n
d
5
0
0
$
to
im
p
lem
en
t
in
5
0
Stre
et
tu
r
n
s
in
an
ar
ea
.
T
h
is
im
p
lem
en
tatio
n
co
s
t is f
o
r
th
e
in
f
r
astru
ctu
r
e,
n
o
t
f
o
r
th
e
in
d
iv
id
u
al
ca
r
.
So
,
th
is
will b
e
m
ar
g
in
ally
less
in
an
au
to
n
o
m
o
u
s
v
eh
icle.
T
ab
le
2
.
Av
e
r
ag
e
co
s
t o
f
L
I
D
AR
LI
D
A
R
mo
d
e
l
C
h
a
n
n
e
l
R
a
n
g
e
(
m)
D
a
t
a
R
a
t
e
C
o
s
t
(
$
)
V
e
l
o
d
y
n
e
LI
D
A
R
-
H
D
L6
4
64
1
0
0
-
200
1
3
,
0
0
,
0
0
0
7
5
,
0
0
0
V
e
l
o
d
y
n
e
LI
D
A
R
-
H
D
L3
2
32
80
-
1
0
0
7
,
0
0
,
0
0
0
3
5
,
0
0
0
V
e
l
o
d
y
n
e
LI
D
A
R
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V
P
L1
6
16
1
0
0
3
,
0
0
,
0
0
0
8
0
0
0
5.
RE
SU
L
T
S
T
o
test
th
e
ef
f
icien
cy
o
f
o
u
r
p
r
o
p
o
s
ed
m
eth
o
d
,
we
p
lace
d
th
e
HM
C
5
8
8
3
L
m
o
d
u
le
o
n
to
p
o
f
th
e
p
r
o
to
ty
p
e
a
n
d
r
ec
o
r
d
ed
th
e
a
n
g
le
in
th
e
d
eg
r
ee
u
n
it.
T
h
e
H
MC5
8
8
3
L
is
a
n
I
2
C
in
ter
f
ac
e
ty
p
e,
s
o
we
c
o
llected
th
e
d
ata
th
r
o
u
g
h
th
e
I
2
C
b
u
s
an
d
s
av
ed
it
with
a
tim
estam
p
.
I
n
itially
,
we
d
r
o
v
e
th
e
p
r
o
to
ty
p
e
in
m
an
u
al
m
o
d
e
an
d
c
o
llected
th
e
d
ata.
T
h
e
n
we
ch
an
g
e
d
t
o
a
u
to
n
o
m
o
u
s
m
o
d
e
a
n
d
co
llected
th
e
d
ata
in
th
e
s
am
e
f
o
r
m
at
.
Fig
u
r
e
1
1
s
h
o
ws th
e
d
ev
iatio
n
b
etwe
en
th
e
au
to
n
o
m
o
u
s
m
o
d
e
an
d
m
an
u
al
m
o
d
e.
T
h
e
g
r
ap
h
clea
r
ly
s
h
o
ws th
e
v
ar
iatio
n
is
less
th
an
+
-
5
%.
Fig
u
r
e
1
1
.
C
o
m
p
ass
r
ea
d
in
g
b
etwe
en
m
an
u
al
an
d
au
to
n
o
m
o
u
s
m
o
d
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
A
lo
w
-
co
s
t lo
ca
liz
a
tio
n
meth
o
d
in
a
u
t
o
n
o
mo
u
s
ve
h
icle
b
y
a
p
p
lyin
g
lig
h
t
…
(
R
a
ju
J
a
g
a
d
ee
s
h
K
a
n
n
a
n
)
1747
6.
CO
NC
LUSIO
N
T
h
is
p
ap
er
p
r
esen
ts
an
au
to
n
o
m
o
u
s
d
r
iv
in
g
ar
ch
itectu
r
e
w
ith
h
ig
h
er
ac
cu
r
ac
y
c
u
r
v
e
d
et
ec
tio
n
th
at
h
elp
s
to
av
o
i
d
u
n
n
ec
ess
ar
y
tu
r
n
s
an
d
ac
cid
e
n
ts
with
lo
w
-
co
s
t
im
p
lem
en
tatio
n
.
T
h
is
ar
ch
ite
ctu
r
e
ca
n
b
e
p
o
r
ted
in
to
an
y
ex
is
tin
g
elec
tr
ic
v
eh
i
cle
m
o
d
el
b
y
im
p
lem
en
tin
g
a
s
tan
d
ar
d
b
ea
co
n
m
o
d
u
le
in
e
v
er
y
s
tr
ee
t c
o
r
n
er
an
d
u
s
in
g
R
asp
b
er
r
y
Pi
3
with
an
8
m
p
x
ca
m
er
a
f
o
r
lan
e
d
e
tecti
o
n
.
On
ly
th
e
m
o
to
r
co
n
tr
o
ller
h
as
to
b
e
co
n
n
ec
ted
with
th
e
ex
is
tin
g
m
o
to
r
co
n
tr
o
ller
in
an
E
lectr
ic
v
e
h
icle
th
is
s
y
s
tem
wo
u
ld
b
en
ef
it
th
e
en
d
u
s
er
s
lik
e
I
n
d
u
s
tr
ies,
u
n
iv
er
s
ity
ca
m
p
u
s
es,
an
d
am
u
s
em
en
t
p
ar
k
s
.
T
h
e
tech
n
o
lo
g
y
u
s
ed
in
a
v
eh
icle
s
u
p
p
o
r
ts
gr
een
tr
an
s
p
o
r
tatio
n
with
af
f
o
r
d
ab
l
e
co
s
t
in
p
u
b
lic
tr
an
s
it.
T
h
e
r
esu
lts
d
em
o
n
s
tr
ate
th
e
d
ev
iatio
n
b
etwe
en
au
to
n
o
m
o
u
s
m
o
d
e
an
d
m
an
u
al
m
o
d
e
,
a
n
d
it c
lear
ly
s
h
o
ws th
e
v
ar
iatio
n
is
less
th
an
+
-
5
%.
RE
F
E
R
E
NC
E
S
[
1
]
G
.
Ta
k
a
n
o
,
M
.
O
b
a
y
a
sh
i
,
a
n
d
K
.
U
t
o
,
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P
o
st
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r
e
-
to
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p
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c
t
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p
l
a
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f
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r
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t
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mo
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s
c
a
r
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g
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p
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c
l
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seg
m
e
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t
s,
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e
c
.
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0
1
7
,
d
o
i
:
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0
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0
9
/
c
d
c
.
2
0
1
7
.
8
2
6
3
6
8
2
.
[
2
]
Y
.
H
u
,
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S
i
g
n
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l
s
t
r
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n
g
t
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b
a
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p
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p
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t
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w
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t
w
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o
c
t
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ra
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h
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,
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e
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f
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U
n
i
v
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rsi
t
y
o
f
T
e
c
h
n
o
l
o
g
y
,
2
0
1
7
.
[
3
]
J.
Y
a
n
g
a
n
d
Y
.
C
h
e
n
,
“
I
n
d
o
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.
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o
i
:
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l
o
c
o
m.
2
0
0
9
.
5
4
2
5
2
3
7
.
[
4
]
J.
C
h
e
n
,
W
.
Z
h
a
n
,
a
n
d
M
.
T
o
mi
z
u
k
a
,
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C
o
n
st
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a
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n
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d
i
t
e
r
a
t
i
v
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LQ
R
f
o
r
o
n
-
r
o
a
d
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t
o
n
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mo
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s
d
r
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m
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,
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c
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.
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d
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:
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0
9
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t
s
c
.
2
0
1
7
.
8
3
1
7
7
4
5
.
[
5
]
R
.
M
a
u
t
z
a
n
d
W
.
Y
.
O
c
h
i
e
n
g
,
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r
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b
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m,
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o
u
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a
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G
l
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.
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0
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g
p
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.
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8
.
[
6
]
A
.
K
a
u
r
a
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d
A
.
J
a
su
j
a
,
“
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e
a
l
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o
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a
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o
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:
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9
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c
a
a
.
2
0
1
7
.
8
2
3
0
0
0
4
.
[
7
]
M.
S
.
G
a
s
t
,
“
B
u
i
l
d
i
n
g
a
p
p
l
i
c
a
t
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s
w
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t
h
I
B
e
a
c
o
n
:
p
r
o
x
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mi
t
y
a
n
d
l
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c
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t
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o
n
serv
i
c
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s
w
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t
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b
l
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t
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y
,
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’
Re
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M
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d
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a
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n
c
.
,
2
0
1
4
.
[
8
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.
F
u
j
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h
a
r
a
a
n
d
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.
M
i
w
a
,
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sas
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v
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c
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t
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u
i
d
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n
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si
n
g
o
p
p
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t
u
n
i
st
i
c
c
o
mm
u
n
i
c
a
t
i
o
n
:
t
h
e
p
o
t
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n
t
i
a
l
f
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p
p
o
r
t
u
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ty
-
b
a
s
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d
serv
i
c
e
,
”
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n
Bi
g
D
a
t
a
a
n
d
I
n
t
e
r
n
e
t
o
f
T
h
i
n
g
s:
A
R
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a
d
m
a
p
f
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S
m
a
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t
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n
v
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ro
n
m
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t
s
,
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p
r
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a
t
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n
g
,
2
0
1
4
,
p
p
.
4
2
5
–
4
4
6
.
[
9
]
H
.
M
i
n
,
X
.
W
u
,
C
.
C
h
e
n
g
,
a
n
d
X
.
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h
a
o
,
“
K
i
n
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ma
t
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c
a
n
d
d
y
n
a
mi
c
v
e
h
i
c
l
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m
o
d
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-
a
ssi
s
t
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d
g
l
o
b
a
l
p
o
s
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t
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n
i
n
g
me
t
h
o
d
f
o
r
a
u
t
o
n
o
mo
u
s
v
e
h
i
c
l
e
s
w
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t
h
l
o
w
-
c
o
s
t
G
P
S
/
C
a
mer
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/
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n
-
v
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c
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n
so
r
s
,
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e
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,
v
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l
.
1
9
,
n
o
.
2
4
,
p
.
5
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3
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e
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0
1
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0
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3
3
9
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1
9
2
4
5
4
3
0
.
[
1
0
]
A
.
K
.
A
g
g
a
r
w
a
l
,
“
G
P
S
-
b
a
s
e
d
l
o
c
a
l
i
z
a
t
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n
o
f
a
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o
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s
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e
h
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e
s,
”
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n
Au
t
o
n
o
m
o
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s
D
r
i
v
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n
g
a
n
d
A
d
v
a
n
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e
d
D
ri
v
e
r
-
As
s
i
st
a
n
c
e
S
y
s
t
e
m
s (AD
A
S
)
,
C
R
C
P
r
e
ss,
2
0
2
1
,
p
p
.
4
3
7
–
4
4
8
.
[
1
1
]
K
.
J
o
a
n
d
M
.
S
u
n
w
o
o
,
“
D
e
v
e
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s
,
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I
ET
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t
e
l
l
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t
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m
s
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v
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l
.
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3
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o
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,
p
p
.
4
0
6
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1
6
,
O
c
t
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8
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o
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:
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4
9
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t
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t
s
.
2
0
1
8
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5
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4
.
[
1
2
]
U
.
C
.
O
n
y
e
ma
,
M
.
S
h
a
f
i
k
,
T
.
D
o
b
r
e
v
,
a
n
d
J
.
H
a
r
d
y
,
“
A
t
r
a
c
k
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n
g
p
l
a
t
f
o
r
m
so
l
u
t
i
o
n
f
o
r
a
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t
o
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m
o
u
s
v
e
h
i
c
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e
s
l
o
c
a
l
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z
a
t
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o
n
i
n
f
u
t
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r
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smar
t
c
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t
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s
u
si
n
g
ma
c
h
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e
a
n
d
d
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p
l
e
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r
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n
g
,
”
i
n
A
d
v
a
n
c
e
s
i
n
M
a
n
u
f
a
c
t
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T
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c
h
n
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l
o
g
y
XX
XI
V
,
I
O
S
P
r
e
ss,
2
0
2
1
.
[
1
3
]
A
.
U
n
n
i
k
r
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sh
n
a
n
a
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d
V
.
D
a
s
,
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o
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r
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me
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f
w
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e
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A
d
-
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e
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s,”
I
N
T
ER
N
ATI
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AL
O
F
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VA
N
C
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I
N
S
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AL
AN
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AG
E
S
C
I
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N
C
E
S
,
v
o
l
.
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,
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o
.
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,
p
p
.
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–
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4
,
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o
i
:
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s
.
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.
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.
2
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2
.
1
7
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4
.
[
1
4
]
M
.
M
.
I
smai
l
,
M
.
S
u
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b
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a
h
,
a
n
d
S
.
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h
e
l
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i
a
h
,
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e
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p
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o
mm
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(
M
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)
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F
t
,
”
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n
d
i
a
n
J
o
u
r
n
a
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f
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u
b
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c
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e
a
l
t
h
Re
s
e
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r
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&a
m
p
;
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e
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t
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.
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.
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0
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7
.
[
1
5
]
Y
.
B
a
k
h
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a
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sa
,
A
.
A
.
A
z
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,
T.
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.
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mi
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d
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.
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u
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t
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m
,
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s
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s
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m
:
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a
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d
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p
p
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n
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s
,
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n
t
e
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a
t
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a
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l
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(
I
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,
v
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l
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p
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.
[
1
6
]
B
.
A
.
Ta
w
f
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e
q
,
M
.
Y
.
S
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l
l
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m
,
a
n
d
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.
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k
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,
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r_
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k
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m
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h
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s
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n
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o
n
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ted
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t
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m
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il
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a
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a
m
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m
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o
m
.
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r
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th
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m
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ro
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