상세정보
학술대회
EKF Localization with Lateral Distance Information for Mobile Robots in Urban Environments
- 발행일
- 201111
- 출처
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2011, pp.281-286
- 협약과제
- 11MC3200, 실외환경에 강인한 도로 기반 저가형 자율주행기술 개발, 유원필
- 초록
- This paper proposes the EKF localization with lateral distance information for the mobile robots in urban environments. The mobile robot is assumed to be operated at common roads where the lane marker exists. The lateral distance information given by the lane marker detector is used to compensate the measurement of global positioning system (GPS) before the EKF update step. In addition, the proposed method also uses Mahalanobis distance approach to validate the sensors measurements. The GPS compensation and Mahalanobis distance validation effectively reduce the sensors error, in particular drift error and jumping position of GPS. As a result, the accuracy of the estimated position is better than normal EKF localization. © 2011 IEEE.
- KSP 제안 키워드
- Mobile robots, distance information, drift error, global positioning system(GPS), mahalanobis distance, marker detector, urban environment