Outdoor localization with optical navigation sensor, IMU and GPS

Author

Yun, Youngmok ; Jin, Jingfu ; Kim, Namhoon ; Yoon, Jeongyeon ; Kim, Changhwan

Author_Institution

Korea Inst. Of Sci. & Technol., Seoul, South Korea

fYear

2012

fDate

13-15 Sept. 2012

Firstpage

377

Lastpage

382

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.

Keywords

Global Positioning System; inertial systems; mobile robots; optical sensors; path planning; GPS signal; IMU; autonomous outdoor navigation algorithms; inertial-measurement-unit; mobile robot transverse distance; optical navigation sensor; outdoor localization algorithm; Adaptive optics; Global Positioning System; Mobile robots; Optical sensors; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012 IEEE Conference on

Conference_Location

Hamburg

Print_ISBN

978-1-4673-2510-3

Electronic_ISBN

978-1-4673-2511-0

Type

conf

DOI

10.1109/MFI.2012.6343007

Filename

6343007