Outdoor mobile robot path tracking for an extended period of time and distance is a formidable task. The difficulty lies in the ability of robot navigation systems to reliably and accurately report on the position and orientation of the vehicle. This paper addresses the accurate navigation of mobile robots in the context of non-line of sight autonomous convoying. Dead-reckoning, GPS and vision based autonomous road following navigational schemes are integrated through a Kalman filter formulation to derive mobile robot position and orientation. The accuracy of these navigational schemes and their sufficiency to achieve autonomous path tracking for long duration are examined.
"Measure of the accuracy of navigational sensors for autonomous path tracking", Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); doi: 10.1117/12.167500; https://doi.org/10.1117/12.167500