Title :
GPS and DR integration for robot navigation in substation environments
Author :
Guo, Rui ; Xiao, Peng ; Han, Lei ; Cheng, Xueqi
Author_Institution :
Electr. Power Robot. Lab., Shandong Electr. Power Res. Inst., Jinan, China
Abstract :
This paper presents a new GPS and DR integration based navigation system for mobile robots in substation environments for inspection. An adaptive federated Kalman filtering algorithm is put forward to realize information fusion. Experiments have also been carried out to verify the functionalities of the system.
Keywords :
Global Positioning System; Kalman filters; inspection; mobile robots; path planning; sensor fusion; substations; GPS-DR integration; Global Positioning System; adaptive federated Kalman filtering; dead reckoning; information fusion; mobile robots; robot navigation; substation environments; Displacement measurement; Extraterrestrial measurements; Filters; Global Positioning System; Inspection; Kinematics; Magnetic field measurement; Mobile robots; Navigation; Substations; Dead Reckoning; Federated Kalman Filter; GPS; Mobile Robot;
Conference_Titel :
Information and Automation (ICIA), 2010 IEEE International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-5701-4
DOI :
10.1109/ICINFA.2010.5512029
