DEVELOPMENT OF A NAVIGATION ALGORITHM WITH DEAD RECKONING FOR UNMANNED GROUND VEHICLES
- Authors
- Yoon, Bok-joong; Lee, Jiyeong; Kim, Jaehwan; Han, Changsoo
- Issue Date
- Feb-2011
- Publisher
- 한국자동차공학회
- Keywords
- DGPS; DR(Dead Reckoning); Global path; Navigation; RTK; UGV(Unmanned Ground Vehicle)
- Citation
- International Journal of Automotive Technology, v.12, no.1, pp 111 - 118
- Pages
- 8
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- International Journal of Automotive Technology
- Volume
- 12
- Number
- 1
- Start Page
- 111
- End Page
- 118
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/38711
- DOI
- 10.1007/s12239-011-0014-z
- ISSN
- 1229-9138
1976-3832
- Abstract
- A navigation algorithm is indispensable for Unmanned Ground Vehicles (UGVs). During driving, UGVs follow a global path. In this study, we propose a navigation algorithm using Real Time Kinematic (RTK)-Differential Global Positioning System (DGPS) units and encoders to complement global path planning. Sometimes GPS systems lose their signals and receive inaccurate position data due to many factors, such as edifice and barrier obstructions. This paper shows that GPS deviations can be solved using a Dead Reckoning (DR) navigation method with encoders and that position errors can be decreased through the use of RTK-DGPS units. In addition to this method, we will introduce a new waypoint update algorithm and a steering algorithm using RTK-DGPS units.
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Collections - COLLEGE OF ENGINEERING SCIENCES > DEPARTMENT OF ROBOT ENGINEERING > 1. Journal Articles
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