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首页> 外文会议>IEEE International Conference on System of Systems Engineering >Sensor Fusion Based Autonomous Mobile Robot Navigation
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Sensor Fusion Based Autonomous Mobile Robot Navigation

机译：传感器融合基于自主移动机器人导航

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摘要

This paper explains a comprehensive navigation solution for outdoor mobile robots that doesn''t have steering mechanism. The solution uses a combination of Global Positioning System (GPS) and magnetic compass for localization as well as for path planning of the robots. A sensor fusion strategy between GPS receiver and compass is adopted to subside the errors generated by each one of them. Two navigation techniques viz. Absolute Orientation Fix and Trajectory Steering Principle are discussed with their applications and applicability. An iterative algorithm that conglomerates the functionality of GPS receiver, magnetic compass, processor function, navigation principles and motor drivers is also explained. The algorithm has been implemented on a robot platform whose architecture is also discussed.
机译：本文解释了对没有转向机制的户外移动机器人的全面导航解决方案。该解决方案使用全球定位系统（GPS）和磁指南针的组合来定位以及机器人的路径规划。采用GPS接收器和指南针之间的传感器融合策略来消除每个人产生的错误。两个导航技术viz。绝对取向固定和轨迹转向原理与其应用和适用性讨论。还解释了一种迭代算法，也解释了GPS接收器，磁罗盘，处理器功能，导航原理和电机驱动器的功能。该算法已经在讨论架构的机器人平台上实现。

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