Localization for Autonomous Navigation of a Mobile Robot Using an Open Source GNSS Library in Pedestrian Environments
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- TSUKAGOSHI Takaya
- Research Institute for Science and Engineering, Waseda University
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- AKEHI Takeshi
- Research Institute for Science and Engineering, Waseda University
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- KITAMURA Mitsunori
- Electronic Navigation Research Institute
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- SUZUKI Taro
- Research Institute for Science and Engineering, Waseda University
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- AMANO Yoshiharu
- Research Institute for Science and Engineering, Waseda University
Bibliographic Information
- Other Title
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- オープンソースGNSSライブラリを用いた遊歩道環境での自律移動ロボットナビゲーションのための位置推定
- 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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Abstract
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.
Journal
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- Transactions of the Society of Instrument and Control Engineers
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Transactions of the Society of Instrument and Control Engineers 52 (5), 276-283, 2016
The Society of Instrument and Control Engineers
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Details 詳細情報について
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- CRID
- 1390001204509739904
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- NII Article ID
- 130005160632
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- NII Book ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL BIB ID
- 027434039
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed