liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Improved GPS Sensor Model for Mobile Robots in Urban Terrain
University of Freiburg.
University of Freiburg.
2010 (English)In: IEEE Int. Conf. on Robotics and Automation (ICRA), IEEE , 2010, 4385-4390 p.Conference paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE , 2010. 4385-4390 p.
National Category
URN: urn:nbn:se:liu:diva-72530DOI: 10.1109/ROBOT.2010.5509895ISBN: 978-1-4244-5038-1OAI: diva2:459948
2010 IEEE International Conference on Robotics and Automation, Anchorage Convention District, May 3-8, 2010, Anchorage, Alaska, USA
Available from: 2011-11-29 Created: 2011-11-28 Last updated: 2011-12-07Bibliographically approved

Open Access in DiVA

fulltext(1241 kB)946 downloads
File information
File name FULLTEXT02.pdfFile size 1241 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Kleiner, Alexander

Search outside of DiVA

GoogleGoogle Scholar
Total: 946 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 36 hits
ReferencesLink to record
Permanent link

Direct link