Mobile robot navigation based on DGPS and odometry in campus environment

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

元の言語English
ホスト出版物のタイトルSpringer Tracts in Advanced Robotics
ページ125-134
ページ数10
24
DOI
出版物ステータスPublished - 2006
外部発表Yes

出版物シリーズ

名前Springer Tracts in Advanced Robotics
24
ISSN(印刷物)16107438
ISSN(電子版)1610742X

Fingerprint

Mobile robots
Navigation
Robots
Data fusion

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

これを引用

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

Mobile robot navigation based on DGPS and odometry in campus environment. / Ohno, Kazunori; Tsubouchi, Takashi; Shigematsu, Bunji; Maeyama, Shoichi; Yuta, Shinichi.

Springer Tracts in Advanced Robotics. 巻 24 2006. p. 125-134 (Springer Tracts in Advanced Robotics; 巻 24).

研究成果: Chapter

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