Simultaneous locating and calibrating pseudolite navigation system for autonomous mobile robots

Author

Wang, Zheng ; He, Yuqing ; Han, Jianda

Author_Institution

Grad. Sch. of Chinese Acad. of Sci., Chinese Acad. of Sci., Shenyang, China

fYear

2009

fDate

21-23 Sept. 2009

Firstpage

519

Lastpage

524

Abstract

In this paper, a new simultaneous locating and calibrating algorithm for the pseudolites based mobile robot navigation system is proposed. First, the calibrating and locating of pseudolites based mobile robot navigation system are modeled as a nonlinear filtering problem. Subsequently, an Unscented Kalman Filter (UKF) algorithm which is effective to deal with the uncertainties and nonlinearities in the observation and process model is suggested to solve the nonlinear filtering problem. Finally, the simulation results with respect to the navigation systems composed of three pseudolites and one mobile robot verifies the feasible and validity of the new algorithm.

Keywords

Global Positioning System; Kalman filters; SLAM (robots); control nonlinearities; mobile robots; nonlinear control systems; nonlinear filters; path planning; transceivers; GPS; UKF; autonomous mobile robot; control nonlinearity; global positioning system; nonlinear filtering problem; pseudolite navigation system; simultaneous localization-and-mapping; simultaneous locating-and-calibrating system; transceivers position; uncertain system; unscented Kalman filter; Earth; Filtering; Global Positioning System; Intelligent robots; Mobile robots; Radio transmitters; Robotics and automation; Satellite broadcasting; Satellite navigation systems; Transceivers; Mobile Robot Localization; Pseudolite; Unscented Kalman Filter;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2009. IDAACS 2009. IEEE International Workshop on

Conference_Location

Rende

Print_ISBN

978-1-4244-4901-9

Electronic_ISBN

978-1-4244-4882-1

Type

conf

DOI

10.1109/IDAACS.2009.5342927

Filename

5342927