Mobile robot navigation based on DGPS and odometry in campus environment

被引：0

作者：

Ohno, Kazunori ^{[1
]}

Tsubouchi, Takashi ^{[1
]}

Shigematsu, Bunji ^{[2
]}

Maeyama, Shoichi ^{[3
]}

Yuta, Shin'ichi ^{[1
]}

机构：

[1] Univ Tsukuba, Intelligent Robot Lab, 1-1-1 Tennoudai, Tsukuba, Ibaraki 3058573, Japan

[2] Penta Ocean Construction Co LTD, Tokyo, Japan

[3] Osaka Electrocommun Univ, Osaka, Japan

来源：

FIELD AND SERVICE ROBOTICS: RECENT ADVANCES IN RESEARCH AND APPLICATIONS | 2006年 / 24卷

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：125 / +

页数：2

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