Paper Info
Title
GPS-based localization for a surveillance UGV in outdoor areas
Abstract
The ANSER project (airport night surveillance expert robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrol robot: in contrast with most approaches in literature, we show how a positioning subsystem composed exclusively of a non-differential GPS unit (i.e., without inertial sensors) is enough to ensure accurate estimates of the robot's position and orientation, under the assumption of nonholonomic kinematics.
Year
DOI
Venue
2005
10.1109/ROMOCO.2005.201417
RoMoCo
Keywords
Field
DocType
global positioning system,airports,expert systems,mobile robots,position control,remotely operated vehicles,robot kinematics,security,surveillance,anser project,gps-based localization,airport night surveillance expert robot,autonomous surveillance,civilian airports,localization subsystem,mobile robot,nondifferential gps unit,nonholonomic kinematics,patrol robot,positioning subsystem,robot orientation,robot position,surveillance ugv,unmanned ground vehicle,wide outdoor areas,laser radar,kinematics,navigation
Computer vision,Remotely operated underwater vehicle,Unmanned ground vehicle,Robot kinematics,Artificial intelligence,Global Positioning System,Inertial measurement unit,Engineering,Robot,Nonholonomic system,Mobile robot
Conference
ISBN
Citations 
PageRank 
83-7143-266-6
10
0.83
References 
Authors
4
3
Name
Order
Citations
PageRank
Francesco Capezio1273.74
Antonio Sgorbissa243957.21
Renato Zaccaria329947.64