Abstract:
Autonomous outdoor navigation algorithms are required in various military and industry fields. A stable and robust outdoor localization algorithm is critical to successfu...Show MoreMetadata
Abstract:
Autonomous outdoor navigation algorithms are required in various military and industry fields. A stable and robust outdoor localization algorithm is critical to successful outdoor navigation. However, unpredictable external effects and interruption of the GPS signal cause difficulties in outdoor localization. To address this issue, first we devised a new optical navigation sensor that measures a mobile robot's transverse distance without being subjected to external influence. Next, using the optical navigation sensor, a novel localization algorithm is established with Inertial-Measurement-Unit (IMU) and GPS. The algorithm is verified in an urban environment where the GPS signal is frequently interrupted and rough ground surfaces provide serious disturbances.
Published in: 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)
Date of Conference: 13-15 September 2012
Date Added to IEEE Xplore: 10 November 2012
ISBN Information: