Differential GPS and odometry-based outdoor navigation of a mobile robot

Ohno, Kazunori; Tsubouchi, Takashi; Shigematsu, Bunji; Yuta, Shin’ichi

doi:10.1163/1568553041257431

Cited by 79 publications

(37 citation statements)

References 2 publications

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“…로봇의 위치를 정확하게 파악하는 것이 다른 기술을 원활하게 수행하기 위해 필수적이므로, 위치추정은 가장 중요한 기술이다. 특히, 실외환경에서 로봇의 위치추정은 GPS를 사용하여 개발되어 왔으나 [4] , GPS 정보는 건물이나 [5] . 이런 다양한 위치추정 기술 중에 MCL [6] 은 야외환경에서 로봇 위치에 대한 불확실성을 줄이고 환경 변화에 강인하게 작용하는 장점이 있다.…”

Section: 서 론 로봇이 다양한 환경을 주행하기 위해서는 환경 정보를unclassified

Improvement of Localization Accuracy with COAG Features and Candidate Selection based on Shape of Sensor Data

Kim¹,

Song²,

Choi³

2014

The Journal of Korea Robotics Society

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Section: 서 론 로봇이 다양한 환경을 주행하기 위해서는 환경 정보를unclassified

Improvement of Localization Accuracy with COAG Features and Candidate Selection based on Shape of Sensor Data

Kim¹,

Song²,

Choi³

2014

The Journal of Korea Robotics Society

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“…Thus, data gaps, due to outlier rejection, can be accommodated. This approach is also widely used for GPS-based navigation system, e.g., the system used in [34].…”

Section: Moving Object Localization Testmentioning

confidence: 99%

Moving Object Localization Using Sound-Based Positioning System with Doppler Shift Compensation

et al. 2013

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Sound-based positioning systems are a potential alternative low-cost navigation system. Recently, we developed such an audible sound-based positioning system, based on a spread spectrum approach. It was shown to accurately localize a stationary object. Here, we extend this localization to a moving object by compensating for the Doppler shift associated with the object movement. Numerical simulations and experiments indicate that by compensating for the Doppler shift, the system can accurately determine the position of an object moving along a non-linear path. When the object moved in a circular path with an angular velocity of 0 to 1.3 rad/s, it could be localized to within 25 mm of the actual position. Experiments also showed the proposed system has a high noise tolerance of up to −25 dB signal-to-noise ratio (SNR) without compromising accuracy.

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“…GPS is an ideal companion for this purpose because it has a finite drift. It is a common practice to fuse these two sensing modalities through Extended Kalman Filtering [2,10,16].…”

Section: Related Workmentioning

confidence: 99%

Real-time Localization in Outdoor Environments using Stereo Vision and Inexpensive GPS

Agrawal¹,

Konolige²

2006

18th International Conference on Pattern Recognition (ICPR'06)

217

136

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Differential GPS and odometry-based outdoor navigation of a mobile robot

Cited by 79 publications

References 2 publications

Improvement of Localization Accuracy with COAG Features and Candidate Selection based on Shape of Sensor Data

Improvement of Localization Accuracy with COAG Features and Candidate Selection based on Shape of Sensor Data

Moving Object Localization Using Sound-Based Positioning System with Doppler Shift Compensation

Real-time Localization in Outdoor Environments using Stereo Vision and Inexpensive GPS

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