가중화된 GPS 정보와 지도정보를 활용한 실외 이동로봇의 위치추정Outdoor Localization of a Mobile Robot Using Weighted GPS Data and Map Information
- Other Titles
- Outdoor Localization of a Mobile Robot Using Weighted GPS Data and Map Information
- Authors
- 배지훈; 송재복; 최지훈
- Issue Date
- 2011
- Publisher
- 한국로봇학회
- Keywords
- Outdoor localization; GPS; EKF
- Citation
- 로봇학회 논문지, v.6, no.3, pp.292 - 300
- Indexed
- KCI
OTHER
- Journal Title
- 로봇학회 논문지
- Volume
- 6
- Number
- 3
- Start Page
- 292
- End Page
- 300
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/114251
- ISSN
- 1975-6291
- Abstract
- Global positioning system (GPS) is widely used to measure the position of a vehicle. However, the accuracy of the GPS can be severely affected by surrounding environmental conditions. To deal with this problem, the GPS and odometry data can be combined using an extended Kalman filter. For stable navigation of an outdoor mobile robot using the GPS, this paper proposes two methods to evaluate the reliability of the GPS data. The first method is to calculate the standard deviation of the GPS data and reflect it to deal with the uncertainty of the GPS data. The second method is to match the GPS data to the traversability map which can be obtained by classifying outdoor terrain data. By matching of the GPS data with the traversability map, we can determine whether to use the GPS data or not. The experimental results show that the proposed methods can enhance the performance of the GPS‐based outdoor localization.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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