NDLI: Robust localization algorithms for an autonomous campus tour guide

Content Provider	IEEE Xplore Digital Library
Author	Thrapp, R. Westbrook, C. Subramanian, D.
Copyright Year	2001
Description	Author affiliation: Dept. of Comput. Sci., Rice Univ., Houston, TX, USA (Thrapp, R.)
Abstract	This paper describes a robust localization method for an outdoor robot that gives tours of the Rice University campus. The robot fuses odometry and GPS data using extended Kalman filtering. We propose and experimentally test a technique for handling two types of nonstationarity in GPS data quality: abrupt changes in GPS position readings caused by sudden obstructions to line of sight access to satellites, and more gradual changes caused by disparities in atmospheric conditions. We construct measurement error covariance matrices indexed by number of visible satellites and switch them into the localization computation automatically. The matrices are built by sampling GPS data repeatedly along the route and are updated continuously to handle drift in GPS data quality. We demonstrate that our approach performs better than extended Kalman filters that use only a single error covariance matrix. With a GPS receiver that delivers 1 meter accuracy, we have been able to localize to 40 cm through a challenging route in the Engineering Quadrangle of Rice University.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	2065
Ending Page	2071
File Size	707445
Page Count	7
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.932911
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Global Positioning System Covariance matrix Robots Satellites Switches Fuses Kalman filters Filtering Testing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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