2P2-C11 Vehicle Localization on Outdoor Woodland Environments

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概要

• 論文の詳細を見る

• This paper reports and outdoor localization method using a multi-sensor approach. Sensors were mounted on a differential drive Yamabico mobile robot. Experiments were done in university campus paths which are surrounded by trees. The localization framework is composed of two wheel rotary encoders, an Inertial Measurement Unit and a GPS. Localization approach using an Extended Kalman Filter (EKF) for data fusion is explained as well as data outlier rejection approach using a Chi-square test. Finally, experimental results validate the effectiveness of the proposed method.

• 一般社団法人日本機械学会の論文
• 2008-06-06

著者

• Morales Yoichi

  Graduate School Of Systems And Information Engineering University Of Tsukuba

• TSUBOUCHI Takashi

  Graduate School of Systems and Information Engineering, University of Tsukuba, Intelligent Robot Lab

• Tsubouchi Takashi

  Graduate School Of Systems And Information Engineering University Of Tsukuba

関連論文

• Vehicle Localization in Outdoor Mountainous Forested Paths and Extension of Two-Dimensional Road Centerline Maps to Three-Dimensional Maps
• 2P2-C11 Vehicle Localization on Outdoor Woodland Environments
• 2P1-H04 Robot Localization in Outdoor Woodland Environments : Static and Dynamic performance of DGPS, RTK-GPS and RTG StarFire
• Pose Planning for a Mobile Manipulator Based on Joint Motions for Posture Adjustment to End-Effector Error

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