Path planning for autonomous vehicles using QZSS and satellite visibility map

Mitsunori Kitamura, Yoichi Yasuoka, Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

    Research output: Contribution to journalArticle

    4 Citations (Scopus)

    Abstract

    This paper describes a path planning method that uses the Quasi-Zenith Satellites System (QZSS) and a satellite visibility map for autonomous vehicles. QZSS is a positioning system operated by Japan that has an effect similar to an increase in the number of GPS satellites. Therefore, QZSS can be used to improve the availability of GPS positioning. A satellite visibility map is a special map that simulates the number of visible satellites at all points on the map. The vehicle can use the satellite visibility map to determine the points that receive more satellite signals. The proposed method generates the artificial potential fields from the satellite visibility map and obstacle information around the vehicle, and it generates the path following the potential fields. Thereby, the vehicle can select the path that has more satellite signals, improving the availability of GPS fixed solutions. Hence, the vehicle can reduce the accumulated error by dead reckoning, and it can improve the safety of self-control. In this study, we evaluate the satellite visibility maps and the path planning method. The results show that the proposed method does improve the availability of GPS fixed solutions.

    Original languageEnglish
    Pages (from-to)400-407
    Number of pages8
    JournalJournal of Robotics and Mechatronics
    Volume25
    Issue number2
    Publication statusPublished - 2013 Apr

    Fingerprint

    Motion planning
    Visibility
    Satellites
    Global positioning system
    Availability

    Keywords

    • GPS
    • Path planning
    • QZSS
    • Satellite visibility map

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Computer Science(all)

    Cite this

    Kitamura, M., Yasuoka, Y., Suzuki, T., Amano, Y., & Hashizume, T. (2013). Path planning for autonomous vehicles using QZSS and satellite visibility map. Journal of Robotics and Mechatronics, 25(2), 400-407.

    Path planning for autonomous vehicles using QZSS and satellite visibility map. / Kitamura, Mitsunori; Yasuoka, Yoichi; Suzuki, Taro; Amano, Yoshiharu; Hashizume, Takumi.

    In: Journal of Robotics and Mechatronics, Vol. 25, No. 2, 04.2013, p. 400-407.

    Research output: Contribution to journalArticle

    Kitamura, M, Yasuoka, Y, Suzuki, T, Amano, Y & Hashizume, T 2013, 'Path planning for autonomous vehicles using QZSS and satellite visibility map', Journal of Robotics and Mechatronics, vol. 25, no. 2, pp. 400-407.
    Kitamura, Mitsunori ; Yasuoka, Yoichi ; Suzuki, Taro ; Amano, Yoshiharu ; Hashizume, Takumi. / Path planning for autonomous vehicles using QZSS and satellite visibility map. In: Journal of Robotics and Mechatronics. 2013 ; Vol. 25, No. 2. pp. 400-407.
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