GPS/encoder based precise navigation for a 4WS mobile robot

Author

He, Bo ; Wang, Danwei ; Pham, Minhtuan ; Yu, Tieniu

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore

Volume

3

fYear

2002

fDate

2-5 Dec. 2002

Firstpage

1256

Abstract

In this paper, position and orientation estimation with high accuracy based on GPS and encoders for a four-wheel-steering vehicle (4WS) mobile robot is addressed. An architecture of position and orientation estimation is proposed, which consists of two Extended Kalman Filters and a processing unit of Runga-Kutta-based dead reckoning. The first EKF fuses data from six encoders to estimate the velocity of vehicle and sideslip angle. The second EKF is applied to the estimation of position and orientation based on the measurement from precise GPS data and output from first EKF. To obtain better accuracy of estimation, an arbitrator is designed to switch between EKF2 and dead reckoning. The results and analysis of experiments are presented to show the effectiveness of the proposed approach.

Keywords

Global Positioning System; Kalman filters; Runge-Kutta methods; electric sensing devices; mobile robots; position control; robot kinematics; GPS; Runga-Kutta processing unit; dead reckoning; encoder; estimation accuracy; four wheel steering vehicle mobile robot; high estimation; kalman filters; orientation estimation; position estimation; sideslip angle; switch designing; vehicle velocity; Dead reckoning; Fuses; Global Positioning System; Kinematics; Mobile robots; Navigation; Position measurement; Sea measurements; Switches; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on

Print_ISBN

981-04-8364-3

Type

conf

DOI

10.1109/ICARCV.2002.1234953

Filename

1234953