Name
Title | ||
|---|---|---|
State estimation of mobile robot using GPS signal that includes reflected and diffracted waves |
Abstract | ||
|---|---|---|
We propose a method to improve the state estimation accuracy of mobile robots placed near high-rise buildings using the statistical property of the reflected and diffracted waves of global positioning system (GPS) signals. First, it is assumed that a GPS signal that contains a reflected and diffracted wave is denoted by the sum of the true position information and noise that follows a time-varying Gaussian distribution. On the basis of this assumption, the time-varying bias of a GPS signal is tracked using a Kalman filter. In addition, a particle filter, which executes sampling and likelihood evaluation using the estimated bias, is developed. With the proposed method, a GPS signal that contains the rejected noise introduced by the conventional method can be used efficiently, and the state estimation accuracy of the robot in a shadow area of GPS satellite can be improved. Furthermore, a control system for an autonomous mobile robot incorporating the proposed state estimation mechanism is developed, and its effectiveness is evaluated via simulation. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1007/s10015-013-0115-z | Artificial Life and Robotics |
Keywords | DocType | Volume |
conventional method,control system,gps satellite,kalman filter,state estimation accuracy,autonomous mobile robot,diffracted wave,proposed state estimation mechanism,gps signal,GPS,Reflected and diffracted waves,Particle filter,Vehicle control | Journal | 18 |
Issue | ISSN | Citations |
3-4 | 1433-5298 | 1 |
PageRank | References | Authors |
0.37 | 1 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Takeshi Nishida | 1 | 54 | 15.90 |
| Sozo Inoue | 2 | 176 | 58.17 |
| Shinichi Sagara | 3 | 30 | 10.93 |