Mobile robot navigation based on DGPS and odometry in campus environment

Kazunori Ohno, Takashi Tsubouchi, Bunji Shigematsu, Shoichi Maeyama, Shin'ichi Yuta

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


This is a technical report on an outdoor navigation for autonomous mobile robot based on DGPS and odometry positioning data. The robot position is estimated by fusion of DGPS and odometry. However, DGPS measurement data suffer from multi-path or other effects near high building and high trees. Thus, it is necessary to pick up only reliable and accurate DGPS measurement data when the robot position is corrected by data fusion of DGPS and odometry. In this paper, the authors propose a selection method of erroneous DGPS measurement data and a rule of data fusion for robot position correction. Finally, the authors equip a mobile robot with the proposed correction method and the robot autonomously navigates in a campus walkway.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationRecent Advances in Research and Applications
EditorsShinichi Yuta, Hajima Asama, Erwin Prassler, Takashi Tsubouchi, Sebastian
Number of pages10
Publication statusPublished - 2006

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


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