Outdoor navigation of a mobile robot with multiple sensors

Huosheng Hu; Dongbing Gu; J. Michael Brady

doi:10.1117/12.299562

25 January 1998 Outdoor navigation of a mobile robot with multiple sensors

Huosheng Hu, Dongbing Gu, J. Michael Brady

Proceedings Volume 3210, Mobile Robots XII; (1998) https://doi.org/10.1117/12.299562
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

Outdoor navigation poses a challenge since uneven road surface, sunshine, clutter background will cause problems for odometry, laser, and vision sensors. To improve position accuracy, single strip retroreflective beacons have been used in the localization process. But to match observed beacons during the motion of the robot is a problem since all beacons are identical. Also strong reflective objects in outdoors may cause false reading.In this paper, we describe how we use the extended Kalman filter algorithm to integrate data scanned from the laser scanner rotating at 2Hz and readings from other sensors. The results obtained from outdoor navigation are presented.

Citation Download Citation

Huosheng Hu, Dongbing Gu, and J. Michael Brady "Outdoor navigation of a mobile robot with multiple sensors", Proc. SPIE 3210, Mobile Robots XII, (25 January 1998); https://doi.org/10.1117/12.299562

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