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State estimation of mobile robot using GPS signal that includes reflected and diffracted waves

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Abstract

We propose a method to improve the state estimation accuracy of mobile robots placed near high-rise buildings using the statistical property of the reflected and diffracted waves of global positioning system (GPS) signals. First, it is assumed that a GPS signal that contains a reflected and diffracted wave is denoted by the sum of the true position information and noise that follows a time-varying Gaussian distribution. On the basis of this assumption, the time-varying bias of a GPS signal is tracked using a Kalman filter. In addition, a particle filter, which executes sampling and likelihood evaluation using the estimated bias, is developed. With the proposed method, a GPS signal that contains the rejected noise introduced by the conventional method can be used efficiently, and the state estimation accuracy of the robot in a shadow area of GPS satellite can be improved. Furthermore, a control system for an autonomous mobile robot incorporating the proposed state estimation mechanism is developed, and its effectiveness is evaluated via simulation.

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Authors and Affiliations

  1. Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu, Fukuoka, Japan

    Takeshi Nishida & Shinichi Sagara

  2. Department of Basic Sciences, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu, Fukuoka, Japan

    Sozo Inoue

Authors
  1. Takeshi Nishida
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  2. Sozo Inoue
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  3. Shinichi Sagara
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Corresponding author

Correspondence to Takeshi Nishida.

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Nishida, T., Inoue, S. & Sagara, S. State estimation of mobile robot using GPS signal that includes reflected and diffracted waves. Artif Life Robotics 18, 178–186 (2013). https://doi.org/10.1007/s10015-013-0115-z

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  • DOI: https://doi.org/10.1007/s10015-013-0115-z

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