Localization for Outdoor Mobile Robot Using LiDAR and RTK-GNSS/INS
Thitipong Thepsit,
Poom Konghuayrob,
Anakkapon Saenthon
et al.
Abstract:Two types of sensors, light detection and ranging (LiDAR) and real-time kinematic of global navigation satellite system with inertial navigation system (RTK-GNSS/INS), are used for the localization of outdoor mobile robots. However, using LiDAR and RTK-GNSS/INS independently was found to be insufficient for achieving precise positioning. Therefore, a sensor fusion approach based on an adaptive-network-based fuzzy inference system (ANFIS) was implemented to enhance reliability. In this research, data from both … Show more
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