Sensor fusion for precise autonomous vehicle navigation in outdoor semi-structured environments

Bento, Luis Conde; Nunes, Urbano; Moita, Fernando; Surrecio, A.

doi:10.1109/itsc.2005.1520055

Cited by 39 publications

(20 citation statements)

References 7 publications

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“…Bento et al have proposed a navigation method using magnetic makers in semi-structure outdoor environment [14]. However, expensive initial cost is necessary in order to apply these method in wide outdoor environments.…”

Section: Autonomous Navigation Methodsmentioning

confidence: 99%

Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks

et al. 2014

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Background:In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods: Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion: We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions:The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method.

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Section: Autonomous Navigation Methodsmentioning

confidence: 99%

Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks

et al. 2014

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“…Since uncertainty of pose estimation grows according to the increase of the travel distance, external sensors are used for correcting the robot pose. Bento [5] and Surrecio [6] proposed non-systematic error reduction methods by combining odometry and external magnetic sensor data. There have been some calibration schemes to compensate for systematic errors.…”

Section: Introductionmentioning

confidence: 99%

Accurate calibration of two wheel differential mobile robots by using experimental heading errors

Jung

Chung

2012

2012 IEEE International Conference on Robotics and Automation

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Odometry using wheel encoders provides fundamental pose estimates for wheeled mobile robots. Systematic errors of odometry can be reduced by the calibration of kinematic parameters. The UMBmark method is one of the widely used calibration schemes for two wheel differential mobile robot. In this paper, the accurate calibration scheme of kinematic parameters is proposed by extending the conventional UMBmark. The contributions of this paper can be summarized as two issues. The first contribution is to present new calibration scheme that reduce the approximation error of calibration equations in UMBmark method. The new equations were derived from the robot's final orientation errors in test track. The second contribution is to propose the consideration of the coupled effects between wheel diameter errors and wheelbase errors in test track for calibration experiments. The calibration performance can be significantly improved by applying new calibration equations were derived to overcome the limitations of the conventional scheme. The numerical simulations and experimental results show that the odometry accuracy can be improved by the proposed calibration schemes.

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“…Since uncertainty of pose estimation grows according to the increase of the travel distance, external sensors are used for correcting the robot pose. Bento [5] and Surrecio [6] proposed nonsystematic error reduction methods by combining odometry and external magnetic sensor data.…”

Section: Introductionmentioning

confidence: 99%

“…[1,[3][4][5][6][7][8][9][10][11][12][13][14]. This paper deals with two wheel differential mobile robots.…”

Section: Introductionmentioning

confidence: 99%

Accurate calibration of kinematic parameters for two wheel differential mobile robots

2011

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Odometry using wheel encoders provides fundamental pose estimates for wheeled mobile robots. Systematic errors of odometry can be reduced by the calibration of kinematic parameters. The UMBmark method is one of the widely used calibration schemes for two wheel differential mobile robot. In this paper, an accurate calibration scheme of kinematic parameters is proposed by extending the conventional UMBmark. The contributions of this paper can be summarized as two issues. The first contribution is to present new calibration equations that remarkably reduce the systematic error of odometry. The new equations were derived to overcome the limitation of the conventional schemes. The second contribution is to propose the design guideline of the test track for calibration experiments. The calibration performance can be significantly improved by appropriate design of the test track. The numerical simulations and experimental results show that the odometry accuracy can be improved by the proposed calibration schemes.

show abstract

Sensor fusion for precise autonomous vehicle navigation in outdoor semi-structured environments

Cited by 39 publications

References 7 publications

Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks

Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks

Accurate calibration of two wheel differential mobile robots by using experimental heading errors

Accurate calibration of kinematic parameters for two wheel differential mobile robots

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