Outdoor navigation of a mobile robot between buildings based on DGPS and odometry data fusion
Outdoor navigation of a mobile robot between buildings based on DGPS and odometry data fusion
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DOI：
10.1109/robot.2003.1241884
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发表时间：
2003-11
期刊：
影响因子：
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通讯作者：
K. Ohno;T. Tsubouchi;Bunji Shigematsu;S. Maeyama;S. Yuta
中科院分区：
文献类型：
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作者：
K. Ohno;T. Tsubouchi;Bunji Shigematsu;S. Maeyama;S. Yuta
研究了基于地图的移动机器人户外导航系统。在导航中，机器人的位置基本上是通过测程法获得的。然而，由于里程计具有累积误差，因此在机器人移动时位置不对齐。DGPS测量数据可以抵消其位置误差。利用EKF框架对测程数据和DGPS测量数据进行修正和融合。然而，由于建筑物附近存在多路径，DGPS测量数据存在较大误差。本文提出了一种消除里程计机器人位置融合时DGPS测量数据误差的方法，并验证了该方法的有效性。
The authors aim at map based outdoor navigation of a mobile robot. In navigation, robot position is fundamentally obtained by odometry. However, the position is misaligned as the robot moves because odometry has cumulative error. DGPS measurement data may cancel its position error. The framework of EKF is used for the modification and the fusion between odometry and DGPS measurement data. The DGPS measurement data, however, could have large error because of multipath near buildings. In this paper, the authors propose a method which eliminates erroneous DGPS measurement data when odometry robot position is fused, and confirm the validity of this approach.