Fault-Tolerant 3D Localization for Outdoor Vehicles

Author

Schmitz, Norbert ; Koch, Jan ; Proetzsch, Martin ; Berns, Karsten

Author_Institution

Dept. of Comput. Sci., Kaiserslautern Univ.

fYear

2006

fDate

Oct. 2006

Firstpage

941

Lastpage

946

Abstract

This paper presents a robust Kalman-based localization for outdoor vehicles. Outdoor vehicles require a fault-tolerant system that can manage temporary unavailable sensor measurements. The sensor system of the vehicle consists of odometry, inertial measurement unit (IMU) and differential global positioning system (DGPS) receiver. The system allows full 3D localization including position, attitude and velocities. Final experiments showed the localization and navigation capabilities of the outdoor robot RAVON

Keywords

Global Positioning System; Kalman filters; distance measurement; fault tolerance; mobile robots; path planning; differential global positioning system; fault-tolerant 3D localization; inertial measurement unit; odometry; outdoor vehicles; robot RAVON; robust Kalman-based localization; sensor measurements; Control systems; Fault tolerance; Fault tolerant systems; Intelligent robots; Mobile robots; Remotely operated vehicles; Robot sensing systems; Robustness; Satellite navigation systems; Sensor systems; inertial navigation system; kalman filter; localization; outdoor robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0259-X

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281771

Filename

4058483