NDLI: Outdoor Navigation of a Mobile Robot Using Differential GPS and Curb Detection

Content Provider	IEEE Xplore Digital Library
Author	Seung-Hun Kim Chi-Won Roh Sung-Chul Kang Min-Yong Park
Copyright Year	2007
Description	Author affiliation: Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul (Seung-Hun Kim; Chi-Won Roh; Sung-Chul Kang)
Abstract	This paper demonstrates a reliable navigation of a mobile robot in outdoor environment. We fuse differential GPS and odometry data using the framework of extended Kalman filter to localize a mobile robot. And also, we propose an algorithm to detect curbs through the laser range finder. An important feature of road environment is the existence of curbs. The mobile robot builds the map of the curbs of roads and the map is used for tracking and localization. The navigation system for the mobile robot consists of a mobile robot and a control station. The mobile robot sends the image data from a camera to the control station. The control station receives and displays the image data and the teleoperator commands the mobile robot based on the image data. Since the image data does not contain enough data for reliable navigation, a hybrid strategy for reliable mobile robot in outdoor environment is suggested. When the mobile robot is faced with unexpected obstacles or the situation that, if it follows the command, it can happen to collide, it sends a warning message to the teleoperator and changes the mode from teleoperated to autonomous to avoid the obstacles by itself. After avoiding the obstacles or the collision situation, the mode of the mobile robot is returned to teleoperated mode. We have been able to confirm that the appropriate change of navigation mode can help the teleoperator perform reliable navigation in outdoor environment through experiments in the road.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	3414
Ending Page	3419
File Size	1309028
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.364000
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Mobile robots Global Positioning System Roads Teleoperators Fuses Robot control Control systems Robot vision systems Cameras
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A Hybrid Autonomous / Teleoperated Strategy for Reliable Mobile Robot Outdoor Navigation

Navigation through urban environments by visual perception and interaction

Qualitative vision-based mobile robot navigation

Property Modifiable Discreet Active Landmarks

Vision-based control of mobile robots

Outdoor map building based on odometry and RTK-GPS positioning fusion

Visual rotation detection and estimation for mobile robot navigation

Mobile robot navigation based on vision and DGPS information

Vision based navigation system for autonomous mobile robot with global matching

Outdoor Navigation of a Mobile Robot Using Differential GPS and Curb Detection

Similar Documents

A Hybrid Autonomous / Teleoperated Strategy for Reliable Mobile Robot Outdoor Navigation

Navigation through urban environments by visual perception and interaction

Qualitative vision-based mobile robot navigation

Property Modifiable Discreet Active Landmarks

Vision-based control of mobile robots

Outdoor map building based on odometry and RTK-GPS positioning fusion

Visual rotation detection and estimation for mobile robot navigation

Mobile robot navigation based on vision and DGPS information

Vision based navigation system for autonomous mobile robot with global matching

Outdoor Navigation of a Mobile Robot Using Differential GPS and Curb Detection