Mobile robot navigation based on DGPS and odometry in campus environment

Kazunori Ohno, Takashi Tsubouchi, Bunji Shigematsu, Shoichi Maeyama, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This is a technical report on an outdoor navigation for autonomous mobile robot based on DGPS and odometry positioning data. The robot position is estimated by fusion of DGPS and odometry. However, DGPS measurement data suffer from multi-path or other effects near high building and high trees. Thus, it is necessary to pick up only reliable and accurate DGPS measurement data when the robot position is corrected by data fusion of DGPS and odometry. In this paper, the authors propose a selection method of erroneous DGPS measurement data and a rule of data fusion for robot position correction. Finally, the authors equip a mobile robot with the proposed correction method and the robot autonomously navigates in a campus walkway.

Original languageEnglish
Title of host publicationSpringer Tracts in Advanced Robotics
Pages125-134
Number of pages10
Volume24
DOIs
Publication statusPublished - 2006
Externally publishedYes

Publication series

NameSpringer Tracts in Advanced Robotics
Volume24
ISSN (Print)16107438
ISSN (Electronic)1610742X

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Cite this

Ohno, K., Tsubouchi, T., Shigematsu, B., Maeyama, S., & Yuta, S. (2006). Mobile robot navigation based on DGPS and odometry in campus environment. In Springer Tracts in Advanced Robotics (Vol. 24, pp. 125-134). (Springer Tracts in Advanced Robotics; Vol. 24). https://doi.org/10.1007/10991459_13