TY - GEN
T1 - Autonomous navigation of mobile robot based on DGPS/INS sensor fusion by EKF in semi-outdoor structured environment
AU - Chae, Heesung
AU - Christiand,
AU - Choi, Sunglok
AU - Yu, Wonpil
AU - Cho, Jaeil
PY - 2010
Y1 - 2010
N2 - Although GPS/DGPS become the dominant localization solution in the outdoor environment, it needs assistant sensors or algorithms for the covering the area not to get the position information from GPS. Especially, in the robot navigation, the sensor fusion algorithm is needed. In addition, it is hard to get the position information at the area surrounded the high buildings such as the downtown because GPS signals is so feeble. Therefore, this paper illustrates an efficient method for the outdoor localization incorporating DGPS, Encoder, and IMU sensor based on EKF. To show the localization performances of the proposed fusion algorithm, we have implemented the proposed algorithm and applied the advertising robot platform which is operating well during 80 days in the real semi-outdoor structured environment. The proposed sensor fusion algorithm and the experimental results showed the feasibility of our novel sensor fusion algorithm.
AB - Although GPS/DGPS become the dominant localization solution in the outdoor environment, it needs assistant sensors or algorithms for the covering the area not to get the position information from GPS. Especially, in the robot navigation, the sensor fusion algorithm is needed. In addition, it is hard to get the position information at the area surrounded the high buildings such as the downtown because GPS signals is so feeble. Therefore, this paper illustrates an efficient method for the outdoor localization incorporating DGPS, Encoder, and IMU sensor based on EKF. To show the localization performances of the proposed fusion algorithm, we have implemented the proposed algorithm and applied the advertising robot platform which is operating well during 80 days in the real semi-outdoor structured environment. The proposed sensor fusion algorithm and the experimental results showed the feasibility of our novel sensor fusion algorithm.
UR - https://www.scopus.com/pages/publications/78651473528
U2 - 10.1109/IROS.2010.5649693
DO - 10.1109/IROS.2010.5649693
M3 - Conference contribution
AN - SCOPUS:78651473528
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 1222
EP - 1227
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
PB - IEEE Computer Society
ER -