The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2011
Session ID : 2A1-M16
Conference information
2A1-M16 Self-localization system using Kalman filter for robot running outdoor(Localization and Mapping)
Kouta KODAMAItsuki KONDOUHiroyuki OGATADaigo MURAMATSU
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Abstract
In this paper, we report an implementation of self-localization system for mobile robots running in outdoor environments where GPS data is sometimes not accurate enough. Our system is equipped with GPS, encoder and magnetic sensor. Data obtained by these sensors are integrated using Kalman filter. GPS observation is omitted when the robot is running through particular areas. These areas are determined based on standard deviation of the data observed in advance.
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© 2011 The Japan Society of Mechanical Engineers
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