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by Rajmohan Madhavan

03/08/2003

This thesis is concerned with the theoretical and practical development of reliable and robust localisation algorithms for autonomous land vehicles operating at high speeds in unstructured, expansive and harsh environments. Localisation is the ability of a vehicle to determine its position and orientation within an operating environment. The need for such a localisation system is motivated by the requirement of developing autonomous vehicles in applications such as mining, agriculture and cargo handling. The main drivers in these applications are for safety, efficiency and productivity. The approach taken to the localisation problem in this thesis guarantees that the safety and reliability requirements imposed by such applications are achieved. The ...