Application of GPS systems on a mobile robot

Peter Cao; Mayank Saxena; Maurice Tedder; Steve Mischalske; Ernest L. Hall

doi:10.1117/12.444198

5 October 2001 Application of GPS systems on a mobile robot

Peter Cao; Mayank Saxena; Maurice Tedder; Steve Mischalske; Ernest L. Hall

Author Affiliations +

Proceedings Volume 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision; (2001) https://doi.org/10.1117/12.444198
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

The purpose of this paper is to describe the use of Global Positioning Systems (GPS) as geographic information and navigational system for a ground based mobile robot. Several low cost wireless systems are now available for a variety of innovative automobile applications including location, messaging and tracking and security. Experiments were conducted with a test bed mobile robot, Bearcat II, for point-to-point motion using a Motorola GPS in June 2001. The Motorola M12 Oncore GPS system is connected to the Bearcat II main control computer through a RS232 interface. A mapping program is used to define a desired route. Then GPS information may be displayed for verification. However, the GPS information is also used to update the control points of the mobile robot using a reinforcement learning method. Local position updates are also used when found in the environment. The significance of the method is in extending the use of GPS to local vehicle control that requires more resolution that is available from the raw data using the adaptive control method.

Citation Download Citation

Peter Cao, Peter Cao, Mayank Saxena, Mayank Saxena, Maurice Tedder, Maurice Tedder, Steve Mischalske, Steve Mischalske, Ernest L. Hall, Ernest L. Hall, } "Application of GPS systems on a mobile robot", Proc. SPIE 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, (5 October 2001); doi: 10.1117/12.444198; https://doi.org/10.1117/12.444198

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