GPS-compatible indoor-positioning methods for indoor-outdoor seamless robot navigation

Author

Sakamoto, Yoshihiro ; Ebinuma, Takuji ; Fujii, Kenjiro ; Sugano, Shigeki

Author_Institution

Waseda Univ., Tokyo, Japan

fYear

2012

fDate

21-23 May 2012

Firstpage

95

Lastpage

100

Abstract

The difficulty of applying “pseudolites” (i.e., pseudo-satellites) and the “indoor messaging system” (MES) to indoor robot navigation is investigated. Moreover, as an alternative to these methods, “high-accuracy IMES using real-time kinematic Doppler positioning” is introduced and experimentally evaluated. The evaluation showed that this method can achieve centimeter- to decimeter-level positioning accuracy. This result implies the feasibility of indoor-outdoor seamless robot navigation with a GPS/IMES receiver.

Keywords

Global Positioning System; mobile robots; path planning; GPS receiver; GPS-compatible indoor-positioning method; Global Positioning System; IMES receiver; centimeter-to-decimeter-level positioning accuracy; indoor messaging system; indoor-outdoor seamless robot navigation; mobile robots; pseudosatellite; realtime kinematic Doppler positioning; Global Positioning System; Mobile robots; Radio transmitters; Receiving antennas;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics and its Social Impacts (ARSO), 2012 IEEE Workshop on

Conference_Location

Munich

ISSN

2162-7568

Print_ISBN

978-1-4673-0481-8

Type

conf

DOI

10.1109/ARSO.2012.6213406

Filename

6213406