DocumentCode
2651946
Title
Augmented EKF localization for mobile robots in urban environments
Author
Christiand ; Lee, Yu-Cheol ; Yu, Wonpil ; Cho, Jaeil
Author_Institution
Robot Res. Dept., Electron. & Telecommun. Res. Inst.(ETRI), Daejeon, South Korea
fYear
2010
fDate
14-18 Dec. 2010
Firstpage
986
Lastpage
991
Abstract
We propose the augmented EKF Localization for mobile robots in urban environments. Odometer, GPS (Global Positioning System), gyroscope, and camera are used as the localization sensors. The proposed method is aimed for the mobile robot working in urban environments where the traffic lanes exist. Through a camera, the robot measures the lateral offset from the robot position to the centerline of road. Furthermore, the lateral offset is included probabilistically as robot´s augmented state to strengthen the robot position estimate. The simulation shows that our proposed method has superior performance compared to the other EKF versions.
Keywords
Global Positioning System; mobile robots; path planning; GPS; augmented EKF localization; global positioning system; localization sensors; mobile robots; urban environments; Global Positioning System; Mobile robots; Noise; Roads; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location
Tianjin
Print_ISBN
978-1-4244-9319-7
Type
conf
DOI
10.1109/ROBIO.2010.5723460
Filename
5723460
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