Research on positioning and navigation of outdoor robot based on multi-sensor information

Yufan Li; Yinke Dou; Maolin Hou; Qingyang Mao

doi:10.1117/12.2681073

23 May 2023 Research on positioning and navigation of outdoor robot based on multi-sensor information

Yufan Li, Yinke Dou, Maolin Hou, Qingyang Mao

Proceedings Volume 12645, International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023); 126455H (2023) https://doi.org/10.1117/12.2681073
Event: International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023), 2023, Hangzhou, China

Abstract

In complex outdoor environments, mobile robots may experience problems such as signal loss, low accuracy, and difficulty in localization and navigation. To address the limitations of using a single sensor for target detection and map building, as well as the lack of research on robot localization and navigation in complex outdoor environments, this paper proposes a method for integrating information from multiple sensors for outdoor robot localization and navigation. Based on multiple sensors such as lidar, IMU, GPS, and camera, data fusion is performed using Kalman filtering to effectively address the shortcomings of traditional single-sensor methods, including the cumbersome preliminary work and low localization and navigation accuracy. Simulation results demonstrate that this fusion localization and navigation algorithm can achieve complementary advantages between different sensors, with strong anti-interference capabilities and high localization accuracy. By using multiple sensors to provide correction information and reduce the possibility of measurement errors, this method provides theoretical support for robot movement and localization in complex environmental scenarios.

Citation Download Citation

Yufan Li, Yinke Dou, Maolin Hou, and Qingyang Mao "Research on positioning and navigation of outdoor robot based on multi-sensor information", Proc. SPIE 12645, International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023), 126455H (23 May 2023); https://doi.org/10.1117/12.2681073

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KEYWORDS

Navigation systems

Image sensors

Sensors

Environmental sensing

Global Positioning System

LIDAR

Cameras

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