Sensor Fusion Based Autonomous Mobile Robot Navigation

Author

Raghavan, Vikraman ; Jamshidi, Mo

Author_Institution

Texas Univ., San Antonio

fYear

2007

fDate

16-18 April 2007

Firstpage

1

Lastpage

6

Abstract

This paper explains a comprehensive navigation solution for outdoor mobile robots that doesn´t have steering mechanism. The solution uses a combination of Global Positioning System (GPS) and magnetic compass for localization as well as for path planning of the robots. A sensor fusion strategy between GPS receiver and compass is adopted to subside the errors generated by each one of them. Two navigation techniques viz. Absolute Orientation Fix and Trajectory Steering Principle are discussed with their applications and applicability. An iterative algorithm that conglomerates the functionality of GPS receiver, magnetic compass, processor function, navigation principles and motor drivers is also explained. The algorithm has been implemented on a robot platform whose architecture is also discussed.

Keywords

Global Positioning System; iterative methods; mobile robots; path planning; sensor fusion; absolute orientation fix; autonomous mobile robot navigation; global positioning system; iterative algorithm; magnetic compass; path planning; sensor fusion strategy; trajectory steering principle; Global Positioning System; Hardware; Iterative algorithms; Mobile robots; Path planning; Receivers; Robot sensing systems; Satellite broadcasting; Satellite navigation systems; Sensor fusion;

fLanguage

English

Publisher

ieee

Conference_Titel

System of Systems Engineering, 2007. SoSE '07. IEEE International Conference on

Conference_Location

San Antonio, TX

Print_ISBN

1-4244-1159-9

Electronic_ISBN

1-4244-1160-2

Type

conf

DOI

10.1109/SYSOSE.2007.4304295

Filename

4304295