Outdoor navigation of a mobile robot between buildings based on DGPS and odometry data fusion

Kazunori Ohno, Takashi Tsubouchi, Bunji Shigematsu, Shoichi Maeyama, Shin'ichi Yuta

Research output: Contribution to journalConference article

83 Citations (Scopus)

Abstract

The authors aim at map based outdoor navigation of a mobile robot. In navigation, robot position is fundamentally obtained by odometry. However, the position is misaligned as the robot moves because odometry has cumulative error. DGPS measurement data may cancel its position error. The framework of EKF is used for the modification and the fusion between odometry and DGPS measurement data. The DGPS measurement data, however, could have large error because of multipath near buildings. In this paper, the authors propose a method which eliminates erroneous DGPS measurement data when odometry robot position is fused, and confirm the validity of this approach.

Original languageEnglish
Pages (from-to)1978-1984
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - 2003 Dec 9
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

Keywords

  • DGPS
  • EKF
  • Likelihood
  • Mobile robot
  • Navigation
  • Odometry

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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