Vehicle localization in outdoor woodland environments with sensor fault detection

Yoichi Morales, Eijiro Takeuchi, Takashi Tsubouchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

32 Citations (Scopus)

Abstract

This paper describes a 2D localization method for a differential drive mobile vehicle on real forested paths. The mobile vehicle is equipped with two rotary encoders, Crossbow's NAV420CA Inertial Measurement Unit (IMU) and a NAVCOM SF-2050M GPS receiver (used in StarFire-DGPS dual mode). Loosely-coupled multisensor fusion and sensor fault detection issues are discussed as well. An extended Kalman Filter (EKF) is used for sensor fusion estimation where a GPS noise pre-filter is used to avoid introducing biased GPS data (affected by multi-path). Normalized Innovation Squared (NIS) tests are performed when a GPS measurement is incorporated to reject GPS data outliers and keep the consistency of the filter. Finally, experimental results show the performance of the localization system compared to a previously measured ground truth.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages449-454
Number of pages6
DOIs
Publication statusPublished - 2008 Sep 18
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period08/5/1908/5/23

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Morales, Y., Takeuchi, E., & Tsubouchi, T. (2008). Vehicle localization in outdoor woodland environments with sensor fault detection. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 449-454). [4543248] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543248