Analysis of a sensor fusion hybrid solution for indoor/outdoor robot navigation

  • Martí, Enrique David
  • García, Jesús
  • Molina, José M.
Proceedings of: 5th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC 2010). Noordwij, Netherlands, 8-10 December 2010, Autonomous mobile robots need robust, flexible and accurate navigation algorithms. One approach consists in fusing as many information sources as possible, integrating measures from internal sensors with data obtained from external sensing entities. This work presents a solution for combined indoor/outdoor robot navigation, and analyzes some preliminary results in an outdoor environment using a Particle Filter for GPS/INS sensor fusion. Experiments are based in predesigned trajectories which have been simulated in first place and then reproduced using a robotic platform. As a concluding remark, some considerations about the use of Particle Filters and the differences between simulated and real data are presented, This work was supported in part by Projects ATLANTIDA, CICYT TIN2008-06742-C02-02/TSI, CICYT TEC2008- 06732-C02-02/TEC, SINPROB, CAM MADRINET S- 0505/TIC/0255 DPS2008-07029-C02-02., Publicado