Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Outdoor Localization through GPS Data and Matching of Lane Markers for a Mobile Robot

GPS 정보와 차선정보의 정합을 통한 이동로봇의 실외 위치추정

  • 지용훈 (고려대학교 메카트로닉스학과) ;
  • 배지훈 ((주)대한항공 항공우주사업본부) ;
  • 송재복 (고려대학교 기계공학부) ;
  • 유재관 (LIG 넥스원(주) 연구개발본부) ;
  • 백주현 (LIG 넥스원(주) 연구개발본부)
  • Received : 2012.04.30
  • Accepted : 2012.05.22
  • Published : 2012.06.01
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Abstract

Accurate localization is very important to stable navigation of a mobile robot. This paper deals with local localization of a mobile robot especially for outdoor environments. The GPS information is the easiest way to obtain the outdoor position information. However, the GPS accuracy can be severely affected by environmental conditions. To deal with this problem, the GPS and wheel odometry can be combined using an EKF (Extended Kalman Filter). However, this is not enough for safe navigation of a mobile robot in outdoor environments. This paper proposes a novel method using lane features from the road image. The pose data of a mobile robot can be corrected by analyzing the detected lane features. This can improve the accuracy of the localization process substantially.

Keywords

References

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