Mobile robot navigation based on DGPS and odometry in campus environment

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

doi:10.1007/10991459_13

Mobile robot navigation based on DGPS and odometry in campus environment

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

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Abstract

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.

Original language	English
Title of host publication	Robotics
Subtitle of host publication	Recent Advances in Research and Applications
Editors	Shinichi Yuta, Hajima Asama, Erwin Prassler, Takashi Tsubouchi, Sebastian
Pages	125-134
Number of pages	10
DOIs	https://doi.org/10.1007/10991459_13
Publication status	Published - 2006 Sep 28
Externally published	Yes

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	24
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

ASJC Scopus subject areas

Electrical and Electronic Engineering
Artificial Intelligence

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10.1007/10991459_13

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Ohno, K., Tsubouchi, T., Shigematsu, B., Maeyama, S., & Yuta, S. (2006). Mobile robot navigation based on DGPS and odometry in campus environment. In S. Yuta, H. Asama, E. Prassler, T. Tsubouchi, & Sebastian (Eds.), Robotics: Recent Advances in Research and Applications (pp. 125-134). (Springer Tracts in Advanced Robotics; Vol. 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, Shin'ichi.

Robotics: Recent Advances in Research and Applications. ed. / Shinichi Yuta; Hajima Asama; Erwin Prassler; Takashi Tsubouchi; Sebastian. 2006. p. 125-134 (Springer Tracts in Advanced Robotics; Vol. 24).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Ohno, Kazunori ; Tsubouchi, Takashi ; Shigematsu, Bunji ; Maeyama, Shoichi ; Yuta, Shin'ichi. / Mobile robot navigation based on DGPS and odometry in campus environment. Robotics: Recent Advances in Research and Applications. editor / Shinichi Yuta ; Hajima Asama ; Erwin Prassler ; Takashi Tsubouchi ; Sebastian. 2006. pp. 125-134 (Springer Tracts in Advanced Robotics).

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Mobile robot navigation based on DGPS and odometry in campus environment

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