書誌事項
- タイトル別名
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- Localization for Autonomous Navigation of a Mobile Robot Using an Open Source GNSS Library in Pedestrian Environments
- オープンソース GNSS ライブラリ オ モチイタ ユウホドウ カンキョウ デ ノ ジリツ イドウ ロボットナビゲーション ノ タメ ノ イチ スイテイ
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This paper describes the localization method based on global navigation satellite systems (GNSS) technology for autonomous navigation of mobile robots. The accurate and robust position estimation of the robot is the key to the autonomous navigation. GNSS was usually not used in localization in urban environments because its positioning has multipath errors and problems in availability. In this paper, we propose the GNSS positioning technique that is suitable for the autonomous navigation of mobile robots. We use an open source GNSS positioning library to compute the GNSS fix solutions. The techniques, which select the GNSS observations using the GNSS signal strength and validate GNSS fix solutions, are proposed. Then the GNSS fix solutions are integrated with inertial sensors and an odometer through the extended Kalman filter. From the experiment in the “Real World Robot Challenge (RWRC)”, it was confirmed that the effectiveness of our proposed technique and the feasibility of its highly accurate positioning.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 52 (5), 276-283, 2016
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390001204509739904
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- NII論文ID
- 130005160632
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- NII書誌ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 027434039
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可