Autonomous navigation of a mobile robot based on GNSS/DR integration in outdoor environments

Taro Suzuki, Mitsunori Kitamura, Yoshiharu Amano, Nobuaki Kubo

    Research output: Contribution to journalArticle

    12 Citations (Scopus)

    Abstract

    This paper describes the development of a mobile robot system and an outdoor navigation method based on global navigation satellite system (GNSS) in an autonomous mobile robot navigation challenge, called the Tsukuba Challenge, held in Tsukuba, Japan, in 2011 and 2012. The Tsukuba Challenge promotes practical technologies for autonomous mobile robots working in ordinary pedestrian environments. Many teams taking part in the Tsukuba Challenge used laser scanners to determine robot positions. GNSS was not used in localization because its positioning has multi-path errors and problems in availability. We propose a technique for realizing multipath mitigation that uses an omnidirectional IR camera to exclude "invisible" satellites, i.e., those entirely obstructed by a building and whose direct waves therefore are not received. We applied GPS/dead reckoning (DR) integrated based on observation data from visible satellites determined by the IR camera. Positioning was evaluated during Tsukuba Challenge 2011 and 2012. Our robot ran the 1.4 km course autonomously and evaluation results confirmed the effectiveness of our proposed technique and the feasibility of its highly accurate positioning.

    Original languageEnglish
    Pages (from-to)214-224
    Number of pages11
    JournalJournal of Robotics and Mechatronics
    Volume26
    Issue number2
    Publication statusPublished - 2014

    Fingerprint

    Mobile robots
    Navigation
    Satellites
    Cameras
    Robots
    Global positioning system
    Availability
    Lasers

    Keywords

    • GPS
    • GPS/DR
    • Mobile robot
    • Navigation

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Computer Science(all)

    Cite this

    Autonomous navigation of a mobile robot based on GNSS/DR integration in outdoor environments. / Suzuki, Taro; Kitamura, Mitsunori; Amano, Yoshiharu; Kubo, Nobuaki.

    In: Journal of Robotics and Mechatronics, Vol. 26, No. 2, 2014, p. 214-224.

    Research output: Contribution to journalArticle

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