Mobile robot navigation based on DGPS and odometry in campus environment

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

研究成果: Chapter

抄録

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.

本文言語English
ホスト出版物のタイトルRobotics
ホスト出版物のサブタイトルRecent Advances in Research and Applications
編集者Shinichi Yuta, Hajima Asama, Erwin Prassler, Takashi Tsubouchi, Sebastian
ページ125-134
ページ数10
DOI
出版ステータスPublished - 2006

出版物シリーズ

名前Springer Tracts in Advanced Robotics
24
ISSN(印刷版)1610-7438
ISSN(電子版)1610-742X

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 人工知能

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