지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.9
- 수록면
- 292 - 300 (9page)
이용수
초록· 키워드
오류제보하기
Global positioning system (GPS) is widely used to measure the position of a vehicle. However, the accuracy of the GPS can be severely affected by surrounding environmental conditions. To deal with this problem, the GPS and odometry data can be combined using an extended Kalman filter. For stable navigation of an outdoor mobile robot using the GPS, this paper proposes two methods to evaluate the reliability of the GPS data. The first method is to calculate the standard deviation of the GPS data and reflect it to deal with the uncertainty of the GPS data. The second method is to match the GPS data to the traversability map which can be obtained by classifying outdoor terrain data. By matching of the GPS data with the traversability map, we can determine whether to use the GPS data or not. The experimental results show that the proposed methods can enhance the performance of the GPS-based outdoor localization.
목차
Abstract
1. 서론
2. EKF를 이용한 위치추정
3. 표준편차를 이용한 GPS 위치정보 가중화
4. GPS 위치와 지도와의 정합을 통한 위치추정
5. 실험 결과
6. 결론
참고문헌
참고문헌 (8)
참고문헌 신청
1. [학술대회논문] - Da, DIIa, Ren / 1997 / Investigation of a low‐cost and high‐accuracy GPS/IMU system / Proc. of the ION National Technical Meeting : 955 ~ 963
2. [학술지(정기간행물)] - S. Sukkarieh / 1999 / A high integrity IMU/GPS navigation loop for autonomous land vehicle applications / IEEE Trans. Robotics and Automation 15 (3) : 572 ~ 578
3. [학술지(정기간행물)] - Rainer Kümmerlem / 2008 / Monte Carlo localization in outdoor terrains using multilevel surface maps / Journal of Field Robotics 25 (7) : 346 ~ 359
4. [학술대회논문] - Keith Yu Kit Leung / 2008 / Localization in urban environments by matching ground level video images with an aerial image / IEEE International Conference on Robotics and Automation : 551 ~ 556
5. [학술지(정기간행물)] - K. Ohno / 2004 / Differential GPS and odometry‐based outdoor navigation of a mobile robot / Advanced Robotics 18 (6) : 611 ~ 635
2. [학술지(정기간행물)] - S. Sukkarieh / 1999 / A high integrity IMU/GPS navigation loop for autonomous land vehicle applications / IEEE Trans. Robotics and Automation 15 (3) : 572 ~ 578
3. [학술지(정기간행물)] - Rainer Kümmerlem / 2008 / Monte Carlo localization in outdoor terrains using multilevel surface maps / Journal of Field Robotics 25 (7) : 346 ~ 359
4. [학술대회논문] - Keith Yu Kit Leung / 2008 / Localization in urban environments by matching ground level video images with an aerial image / IEEE International Conference on Robotics and Automation : 551 ~ 556
5. [학술지(정기간행물)] - K. Ohno / 2004 / Differential GPS and odometry‐based outdoor navigation of a mobile robot / Advanced Robotics 18 (6) : 611 ~ 635
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2020-559-001259261