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Author:
Maier, D. (University of Freiburg)
Kleiner, Alexander (University of Freiburg)
Title:
Improved GPS Sensor Model for Mobile Robots in Urban Terrain
Publication type:
Conference paper (Refereed)
Language:
English
In:
IEEE Int. Conf. on Robotics and Automation (ICRA)
Conference:
2010 IEEE International Conference on Robotics and Automation, Anchorage Convention District, May 3-8, 2010, Anchorage, Alaska, USA
Publisher: IEEE
Pages:
4385-4390
Year of publ.:
2010
URI:
urn:nbn:se:liu:diva-72530
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72530
ISBN:
978-1-4244-5038-1
Subject category:
Robotics
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.

Available from:
2011-11-29
Created:
2011-11-28
Last updated:
2011-12-07
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