Comparison and fusion of odometry and GPS navigation for an outdoor mobile robot

被引：0

作者：

Moutinho, A ^{[1
]}

Azinheira, JR ^{[1
]}

机构：

[1] Univ Tecn Lisboa, Inst Super Tecn, Dept Mech Engn, IDMEC,GCAR, P-1049001 Lisbon, Portugal

来源：

PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The present paper introduces a localization algorithm based on an Extended Kalman Filter (EKF) that tries to fuse information from odometry and an absolute Global Positioning System (GPS) receiver. This system was implemented on a home made mobile robot named Rover Autonomous Navigation Tool (RANT). Experimental results are presented, which allow to compare the two original measurements, clearly showing the advantages and disadvantages of odometry or GPS alone. The output of the Kalman filter fusion is in agreement with the searched compromise; cancelling the odometry drift, to the expense of a little noise in the position estimate.

引用

页码：1290 / 1295

页数：6

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