Title :
An augmented state vector approach to GPS-based localization
Author :
Capezio, Francesco ; Sgorbissa, Antonio ; Zaccaria, Renato
Abstract :
The ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrolling robot, composed of a non-differential GPS unit and a laser rangefinder for map-based localization (inertial sensors are absent). Moreover, it shows that an augmented state vector approach and an Extended Kalman filter can be successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable.
Keywords :
Global Positioning System; Kalman filters; airports; laser ranging; mobile robots; path planning; surveillance; GPS color noise estimation; GPS map-based localization system; augmented state vector approach; autonomous airport night surveillance expert robot project; civilian airport; extended Kalman filter; laser rangefinder; mobile robot; patrolling robot; Airports; Cameras; Global Positioning System; Laser noise; Mobile robots; Robot sensing systems; Robot vision systems; State estimation; Surveillance; Unmanned aerial vehicles;
Conference_Titel :
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-1263-1
Electronic_ISBN :
978-1-4244-1264-8
DOI :
10.1109/AIM.2007.4412556
