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

研究成果: Conference article査読

87 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)1978-1984
ページ数7
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2
出版ステータスPublished - 2003 12月 9
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
継続期間: 2003 9月 142003 9月 19

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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