Navigation of outdoor mobile robots using dead reckoning and visually detected landmarks

摘要

Dead reckoning and visual landmark recognition has been studied as a solution for a vehicle to move along a predetermined path in forest environment. Dead reckoning uses a flux-gate compass as a heading sensor and a Doppler radar for distance measurement. The path in the forest is marked with reflective landmarks which are illuminated by a lamp onboard. An algorithm has been developed for landmark recognition. The Kalman filter is used to fuse the measurements from both the positioning systems.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>