Improved GPS Sensor Model for Mobile Robots in Urban Terrain
2010 (English)In: IEEE Int. Conf. on Robotics and Automation (ICRA), IEEE, 2010, 4385-4390Conference paper (Refereed)
Autonomous robot navigation in outdoor scenarios gains increasing importance in various growing application areas. Whereas in non-urban domains such as deserts the problem of successful GPS-based navigation appears to be almost solved, navigation in urban domains particularly in the close vicinity of buildings is still a challenging problem. In such situations GPS accuracy significantly drops down due to multiple signal reflections with larger objects causing the so-called multipath error. In this paper we contribute a novel approach for incorporating multi- path errors into the conventional GPS sensor model by analyzing environmental structures from online generated point clouds. The approach has been validated by experimental results conducted with an all- terrain robot operating in scenarios requiring close- to-building navigation. Presented results show that positioning accuracy can significantly be improved within urban domains.
IdentifiersURN: urn:nbn:se:liu:diva-72530DOI: 10.1109/ROBOT.2010.5509895ISBN: 978-1-4244-5038-1OAI: oai:DiVA.org:liu-72530DiVA: diva2:459948
2010 IEEE International Conference on Robotics and Automation, Anchorage Convention District, May 3-8, 2010, Anchorage, Alaska, USA