Fault-tolerant 3D localization for outdoor vehicles

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 941-946

  Schmitz, Norbert ^a   Koch, Jan ^a   Proetzsch, Martin ^a   Berns, Karsten ^a  

^a Rheinland Pfälzische Technische Universität Kaiserslautern Landau   (Germany)

Author keywords

Inertial navigation system; Kalman filter; Localization; Outdoor robot

Indexed keywords

FAULT TOLERANT COMPUTER SYSTEMS; GLOBAL POSITIONING SYSTEM; NAVIGATION; ROBOTIC ASSEMBLY; SENSORS;

DIFFERENTIAL GLOBAL POSITIONING SYSTEM (DGPS); INERTIAL MEASUREMENT UNIT (IMU); OUTDOOR VEHICLES;

KALMAN FILTERS;

EID: 34250628817     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.281771     Document Type: Conference Paper

References (12)

1. P. Goel, S. Roumeliotis, and G. Sukhatme, "Robust, localization using relative and absolute position estimates," IEEE/RSJ International Conference on Intelligent Robots and Systems, 1999.
2. R. Negenborn, "Robot localization and kalman filters - on finding your position in a noisy world," Master's thesis, Utrecht University, 2003.
3. M. Grewal, L. Weill, and A. Andrews, Global Positioning Systems, Inertial Navigation, and Integration. Wiley-Interscience, 2001.
4. Y. Lu, E. Collins, and M. Selekwa, "Parity relation based fault detection, isolation and reconfiguration for autonomous ground vehicle localization sensors," in 24th Army Science Conference, 2004.
5. M. Proetzsch, T. Luksch, and K. Berns, "Fault-tolerant behavior-based motion control for offroad navigation," in 20th IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, April 18-22 2005.
6. H. Schäfer, T. Luksch, and K. Berns, "Obstacle detection and avoidance for mobile outdoor robotics," in EOS Conference on Industrial Imaging and Machine Vision, 2005.
7. J. Borenstein and L. Feng, "A method for measuring, comparing and correcting dead-reckoning errors in mobile robots," University of Michigan, Tech. Rep., 1994.
8. E. Nebot and H. Durrant-Whyte, "Initial calibration and alignment of low cost inertial navigation units for land vehicle applications," Department of Mechanical an Mechatronic Engineering, University of Sidney, Tech. Rep., 1999.
9. M. Hashimoto, H. Kawashima, T. Nakagami, and F. Oba, "Sensor fault detection and identification in dead-reckoning system of mobile robot: Interacting multiple model approach," Department of Mechanical System Engineering, Hiroshima University, Tech. Rep., 2001.
10. D. H. Titterton and J. L. Weston, Strapdown inertial navigation technology. Peter Peregrinus Ltd. London, 1997.
11. J. Koch, C. Hillenbrand, and K. Berns, "Inertial navigation for wheeled robots in outdoor terrain," in 5th IEEE Workshop on Robot Motion and Control (RoMoCo), Dymaczewo, Poland, June 2005.
12. R. Brown and P. Hwang, Introduction to Random Signals and Applied Kalman Filtering. John Wiley and Sons, Inc., 1997.