Development of Autonomous Navigation Robot in Outdoor Road Environments

Title
Development of Autonomous Navigation Robot in Outdoor Road Environments
Authors
노치원강연식강성철
Keywords
autonomous navigation; curb detection; mobile robot; switching strategy; outdoor environment
Issue Date
2009-03
Publisher
제어·로봇·시스템학회논문지 (Journal of Institute of Control, Robotics and Systems Engineering)
Citation
VOL 15, NO 3, 293-299
Abstract
This paper discusses an autonomous navigation system for urban environments. For the localization of the robot, EKF (Extended Kalman Filter) algorithm is used with odometry, angle sensor, and DGPS (Differential Global Positioning System) measurement. Especially in an urban environment, DGPS is often blocked by buildings and trees and the resulting inaccurate positioning prevents the robot from safe and reliable navigation. In addition to the global information from DGPS, the local information of the curb on the roadway is used to track a route when the global DGPS information is inaccurate. For this purpose, curb detection algorithm is developed and implemented in the developed navigation algorithm. Four different types of navigation strategies are developed and they are switched to adapt to different localization conditions according to the availability of DGPS and the existence of the curbs on the roadway. The experimental results show that the designed switching strategy improves the navigation performance adapting to the environment conditions.
URI
http://pubs.kist.re.kr/handle/201004/35076
ISSN
1225-9845
Appears in Collections:
KIST Publication > Article
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