Development of a navigation algorithm with dead reckoning for unmanned ground vehicles |
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Authors: | B J Yoon J Y Lee J H Kim C S Han |
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Institution: | 1.Graduate School of Automotive Engineering,Kookmin University,Seoul,Korea;2.Graduate School of Mechatronics Engineering,Hanyang University,Gyeonggi,Korea |
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Abstract: | A navigation algorithm is indispensable for Unmanned Ground Vehicles (UGVs). During driving, UGVs follow a global path. In
this study, we propose a navigation algorithm using Real Time Kinematic (RTK)-Differential Global Positioning System (DGPS)
units and encoders to complement global path planning. Sometimes GPS systems lose their signals and receive inaccurate position
data due to many factors, such as edifice and barrier obstructions. This paper shows that GPS deviations can be solved using
a Dead Reckoning (DR) navigation method with encoders and that position errors can be decreased through the use of RTK-DGPS
units. In addition to this method, we will introduce a new waypoint update algorithm and a steering algorithm using RTK-DGPS
units. |
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Keywords: | |
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