{"title":"一种基于gps的户外监视无人车定位方法","authors":"F. Capezio, A. Sgorbissa, R. Zaccaria","doi":"10.1109/ROMOCO.2005.201417","DOIUrl":null,"url":null,"abstract":"The ANSER project (airport night surveillance expert robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrol robot: in contrast with most approaches in literature, we show how a positioning subsystem composed exclusively of a non-differential GPS unit (i.e., without inertial sensors) is enough to ensure accurate estimates of the robot's position and orientation, under the assumption of nonholonomic kinematics.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"121 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"47","resultStr":"{\"title\":\"GPS-based localization for a surveillance UGV in outdoor areas\",\"authors\":\"F. Capezio, A. Sgorbissa, R. Zaccaria\",\"doi\":\"10.1109/ROMOCO.2005.201417\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The ANSER project (airport night surveillance expert robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrol robot: in contrast with most approaches in literature, we show how a positioning subsystem composed exclusively of a non-differential GPS unit (i.e., without inertial sensors) is enough to ensure accurate estimates of the robot's position and orientation, under the assumption of nonholonomic kinematics.\",\"PeriodicalId\":142727,\"journal\":{\"name\":\"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.\",\"volume\":\"121 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-06-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"47\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROMOCO.2005.201417\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMOCO.2005.201417","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
GPS-based localization for a surveillance UGV in outdoor areas
The ANSER project (airport night surveillance expert robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrol robot: in contrast with most approaches in literature, we show how a positioning subsystem composed exclusively of a non-differential GPS unit (i.e., without inertial sensors) is enough to ensure accurate estimates of the robot's position and orientation, under the assumption of nonholonomic kinematics.
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