NDLI: Autonomous navigation of mobile robot based on DGPS/INS sensor fusion by EKF in semi-outdoor structured environment

Content Provider	IEEE Xplore Digital Library
Author	Heesung Chae Christiand Sunglok Choi Wonpil Yu Jaeil Cho
Copyright Year	2010
Description	Author affiliation: Electronics and Telecommunication Research Institute, Korea (Heesung Chae; Christiand; Sunglok Choi; Wonpil Yu; Jaeil Cho)
Abstract	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.
Starting Page	1222
Ending Page	1227
File Size	1842436
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649693
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Global Positioning System Robot sensing systems Current measurement Robot kinematics Sensor fusion
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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