Civil-engineering articulated vehicle localization: solutions to deal with GPS masking phases

Bouvet, Denis; Garcia, Gaëtan

doi:10.1109/robot.2000.845276

Cited by 10 publications

(9 citation statements)

References 5 publications

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“…Examples include the 3D attitude estimation for localization of planetary rovers [8], and [9] to maintain acceptable precision of vehicle positioning even during GPS satellite blackout (e.g. when the vehicle enters a tunnel).…”

Section: Introductionmentioning

confidence: 99%

A robotic sentinel for benthic sampling along a transect

Das

Sukhatme

2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-This paper presents the design of a novel robotic system capable of long-term benthic sampling along a transect. The robot is built to traverse back and forth along a mechanical guide-rail at the bottom of a water body. We present results from localization tests with the robot in a laboratory tank and a shallow swimming pool. A pilot deployment was made at a marina to accurately observe the rate and direction of water flow across a section of the marina inlet. Results from the experiment demonstrate the potential of this platform for monitoring various aquatic phenomena of interest.

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Section: Introductionmentioning

confidence: 99%

A robotic sentinel for benthic sampling along a transect

Das

Sukhatme

2009

2009 IEEE International Conference on Robotics and Automation

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“…Differential GPS systems like RTK GPS can provide centimeter level resolution, however they cost an order of magnitude more, and their performance is very sensitive to the number of visible satellites [3]. GPS information alone is not sufficient to achieve the localization accuracies needed for our application, because the tour guide's route on our campus is largely covered with trees and runs very close to tall buildings which obstruct line of sight access to the GPS satellites.…”

Section: ¦ ¥ § © ¤mentioning

confidence: 99%

“…In this paper, we adapt Extended Kalman Filtering (EKF) [7,9] used in [6,3,12] for mobile robot localization to fuse odometry and GPS data. Our innovation is the addition of a dynamic mechanism to handle non-stationarities in GPS data quality.…”

Section: ¦ ¥ § © ¤mentioning

confidence: 99%

“…While there are many successful mobile robots that autonomously navigate and explore indoor environments like museums [13,10] and offices [8] over extended periods of time, there are far fewer examples 1 in the outdoor arena, most being research prototypes [1,3,11,12,6]. There are several reasons why the design of autonomous outdoor robots is challenging: outdoor environments vary more than those indoors, and we do not have good characterizations for them, and robust solutions to the localization £ We thank the George R. Brown School of Engineering, Rice University for its generous support of our work.…”

Section: Introductionmentioning

confidence: 99%

“…GPS is now a standard technique for obtaining absolute position information for outdoor robots [6,3,11,1,12]. Our GPS receiver (an Invicta 210S) can provide position information accurate to about a meter (¤…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust localization algorithms for an autonomous campus tour guide

Thrapp

Westbrook

Subramanian

Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)

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This paper describes a robust localization method for an outdoor robot that gives tours of the Rice University campus. The robot fuses odometry and GPS data using extended Kalman filtering. We propose and experimentally test a technique for handling two types of non-stationarity in GPS data quality: abrupt changes in GPS position readings caused by sudden obstructions to line of sight access to satellites, and more gradual changes caused by disparities in atmospheric conditions. We construct measurement error covariance matrices indexed by number of visible satellites and switch them into the localization computation automatically. The matrices are built by sampling GPS data repeatedly along the route and are updated continuously to handle drift in GPS data quality. We demonstrate that our approach performs better than extended Kalman filters that use only a single error covariance matrix. With a GPS receiver that delivers 1 meter accuracy, we have been able to localize good to 40 cm through a challenging route in the Engineering Quadrangle of Rice University.

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Terrain-inclination-based Three-dimensional Localization for Mobile Robots in Outdoor Environments

2014

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A new terrain‐inclination‐based localization technique is proposed in this paper to enable a robot to identify its three‐dimensional location relative to measurable terrain inclinations. Given a topographical map and a planned path, a robot‐terrain‐inclination model (RTI model) is extracted along the path on the terrain upon which the robot is operating. A particle filter is then used to fuse the measurement data with the robot motion based on the extracted RTI model for either a three‐wheeled or a four‐wheeled mobile robot. Experiments were carried out in four outdoor scenarios: one short path with different initial conditions and map resolution, another short path with different surface roughness and sensor accuracy, and two long paths with different types of rigid terrains and multiple loops. Experimental results show that the proposed method could achieve good localization performance on inclined outdoor terrains.

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Civil-engineering articulated vehicle localization: solutions to deal with GPS masking phases

Cited by 10 publications

References 5 publications

A robotic sentinel for benthic sampling along a transect

A robotic sentinel for benthic sampling along a transect

Robust localization algorithms for an autonomous campus tour guide

Terrain-inclination-based Three-dimensional Localization for Mobile Robots in Outdoor Environments

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