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

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.

[1]  Takashi Tsubouchi,et al.  Outdoor navigation of a mobile robot between buildings based on DGPS and odometry data fusion , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[2]  Richard A. Brown,et al.  Introduction to random signals and applied kalman filtering (3rd ed , 2012 .

[3]  K. Watanabe,et al.  Outdoor waypoint navigation for an intelligent wheelchair using differential GPS and INS , 2004, SICE 2004 Annual Conference.

[4]  Sebastian Thrun,et al.  Probabilistic robotics , 2002, CACM.

[5]  Devika Subramanian,et al.  Robust localization algorithms for an autonomous campus tour guide , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[6]  Wolfram Burgard,et al.  Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva , 2000, Int. J. Robotics Res..

[7]  W. Sardha Wijesoma,et al.  Road-boundary detection and tracking using ladar sensing , 2004, IEEE Transactions on Robotics and Automation.

[8]  Evangelos E. Milios,et al.  Globally Consistent Range Scan Alignment for Environment Mapping , 1997, Auton. Robots.

[9]  Charles E. Thorpe,et al.  Simultaneous localization and mapping with detection and tracking of moving objects , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).