Differential GPS and odometry-based outdoor navigation of a mobile robot

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

研究成果: Article査読

62 被引用数 (Scopus)

抄録

This paper describes outdoor navigation for a mobile robot by using differential GPS (DGPS) and odometry in a campus walkway environment. The robot position is estimated by fusion of DGPS and odometry. The GPS receiver measures its position by radio waves from GPS satellites. The error of GPS measurement data increases near high buildings and trees because of multi-path and forward diffractions. Thus, it is necessary to pick up only accurate DGPS measurement data when the robot position is modified by fusing DGPS and odometry. In this paper, typical DGPS measurement data observed near high buildings and trees are repotted. Then, the authors propose a novel position correction method by fusing GPS and odometry. Fusion of DGPS and odometry is realized using an extended Kalman filter framework. Moreover, outdoor navigation for a mobile robot is accomplished by using the proposed correction method.

本文言語English
ページ(範囲)611-635
ページ数25
ジャーナルAdvanced Robotics
18
6
DOI
出版ステータスPublished - 2004

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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