Sensor Fusion Based Autonomous Mobile Robot Navigation

摘要

This paper explains a comprehensive navigation solution for outdoor mobile robots that doesn't have steering mechanism. The solution uses a combination of Global Positioning System (GPS) and magnetic compass for localization as well as for path planning of the robots. A sensor fusion strategy between GPS receiver and compass is adopted to subside the errors generated by each one of them. Two navigation techniques viz. Absolute Orientation Fix and Trajectory Steering Principle are discussed with their applications and applicability. An iterative algorithm that conglomerates the functionality of GPS receiver, magnetic compass, processor function, navigation principles and motor drivers is also explained. The algorithm has been implemented on a robot platform whose architecture is also discussed.