Title :
Navigation of outdoor mobile robots using dead reckoning and visually detected landmarks
Author :
Mäkelä, Hannu ; Koskinen, Kari
Author_Institution :
Lab. of Electr. & Autom. Eng., Tech. Res. Centre of Finland, Espoo, Finland
Abstract :
Dead reckoning and visual landmark recognition has been studied as a solution for a vehicle to move along a predetermined path in forest environment. Dead reckoning uses a flux-gate compass as a heading sensor and a Doppler radar for distance measurement. The path in the forest is marked with reflective landmarks which are illuminated by a lamp onboard. An algorithm has been developed for landmark recognition. The Kalman filter is used to fuse the measurements from both the positioning systems.<>
Keywords :
Kalman filters; computer vision; image recognition; mobile robots; navigation; position control; radar; Doppler radar; Kalman filter; dead reckoning; distance measurement; flux-gate compass; forest environment; heading sensor; image recognition; navigation; outdoor mobile robots; position control; reflective landmarks; visual landmark detection; Dead reckoning; Doppler radar; Mobile robots; Navigation; Radar detection; Roads; Sensor systems; Testing; Vehicle detection; Velocity measurement;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240417
