Title :
Terrain aided INS robot navigation: a deferred decision making approach
Author :
Bruder, Stephen B H ; Wedeward, Kevin
Author_Institution :
Dept. of Electr. Eng., New Mexico Inst. of Min. & Technol., Socorro, NM, USA
Abstract :
A passive-only sensor suite configured to realize a low-cost Inertial Navigation System (INS) for use in outdoor mobile robot applications is described. The development and implementation of a novel sensor integration algorithm employing a terrain-map to reduce the inevitable error accumulation of INS-only navigation systems is presented
Keywords :
decision theory; inertial navigation; mobile robots; sensor fusion; deferred decision making; inertial navigation system; outdoor mobile robot; passive sensor; sensor integration algorithm; terrain map; Accelerometers; Additive noise; Decision making; Global Positioning System; Mobile robots; Navigation; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; Temperature sensors;
Conference_Titel :
Circuits and Systems, 1999. 42nd Midwest Symposium on
Conference_Location :
Las Cruces, NM
Print_ISBN :
0-7803-5491-5
DOI :
10.1109/MWSCAS.1999.867227
