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Journal of Zhejiang University SCIENCE A 2006 Vol.7 No.2 P.185~193

http://doi.org/10.1631/jzus.2006.A0185


Precise navigation for a 4WS mobile robot


Author(s):  He Bo

Affiliation(s):  School of Information Science and Engineering, Ocean University of China, Qingdao 266071, China

Corresponding email(s):   bhe@ouc.edu.cn

Key Words:  Extended Kalman filter, Navigation, Dead reckoning, GPS


He Bo. Precise navigation for a 4WS mobile robot[J]. Journal of Zhejiang University Science A, 2006, 7(2): 185~193.

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doi="10.1631/jzus.2006.A0185"
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A1 - He Bo
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2006.A0185


Abstract: 
Position and orientation estimation with high accuracy based on GPS and encoders for a four-wheel-steering vehicle (4WS) mobile robot is presented. A GPS receiver working in Real-Time Kinematics (RTK) mode can offer centimeter-level accuracy for our vehicle. In addition to GPS, the vehicle is equipped with four incremental encoders and two absolute encoders to provide information on wheels for estimation of velocity and sideslip angle of vehicle. The proposed architecture of position and orientation estimation consists of two extended Kalman filters and a processing unit of Runga-Kutta based dead reckoning. The first EKF fuses data from six encoders to estimate the vehicle velocity and the sideslip angle. The second EKF is applied to the estimation of position and orientation based on the measurement from precise RTK GPS data and output from first EKF. To obtain higher accuracy of estimation, an arbitrator is designed to switch between EKF2 and dead reckoning. The results and analysis of experiments are presented to show the effectiveness of the proposed approach. Limitations of the proposed approach and future works are also pointed out and discussed in this paper.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

[1] Abbott, E., Powell, D., 1999. Land-vehicle navigation using GPS. Proceeding of IEEE, 87(1):145-162.

[2] Farrell, J.A., Barth, M., 1999. The Global Positioning System and Inertial Navigation. McGraw-Hill.

[3] Iida, M., Kudou, M., Ono, O., Umeda, M., 2000. Automatic Following Control for Agricultural Vehicle. AMC, Nagoya, p.158-162.

[4] Kobayashi, K., Watanabe, K., 1994. Accurate Navigation via Sensor Fusion of Differential GPS and Rate-Gyro. IMTC, Hamamatsu, p.556-559.

[5] Lee, M., 1997. Arrier-Phase Differential GPS for Automatic Control of Land Vehicles. Ph.D Thesis, Stanford University.

[6] Tay, E.K., 1999. Modeling, Analysis and Control Design for an Automated Guided Vehicle. MS Thesis, Nanyang Tech. Univ.

[7] Wang, D., Tay, E.K., Zribi, M., 1998. Modeling of an AGV for Handling Heavy Containers. The 3rd International Conference on Advanced Mechatronics, Japan, p.67-72.

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