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The use of aerial images and GPS for Mobile Robot Waypoint Navigation

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journal contribution
posted on 12.06.2014, 09:26 by Sultan Shair, Jim Chandler, Victor J. Gonzalez Villela, Robert M. Parkin, Michael Jackson
The application of aerial and satellite imagery for mobile robot path planning and navigation has shown potential in recent years. These uses vary from identifying terrain properties for creating traversability maps to extracting landmarks for autonomous navigation. With the freely available differential positioning system WAAS/EGNOS, the use of the Global Positioning System with aerial images providing valuable contextual data, demonstrates potential in waypoint-based navigation of mobile robots. However, important issues relating to the spatial accuracies of image, waypoint and GPS derived data, vital for obtaining accurate navigation results, are often overseen. This paper defines the causes of spatial inaccuracies in order to develop optimal waypoint navigation parameters and provides researchers with sufficient knowledge to reproduce similar results. An improvement of up to 48% in the number of waypoints reached, depending on the radius, was determined for the positional correction of the GPS. The reader is presented with a method for easily creating waypoints from aerial images, yielding results to a similar level of accuracy to conventional and often tedious manual methods. The results are shown with a simulated synchronous drive robot in Matlab’s Simulink®environment.

Funding

This work is supported by the Engineering and Physical Sciences Research Council (EPSRC), UK, and the Innovative Manufacturing and Construction Research Centre (IMCRC), Loughborough University, UK.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Published in

IEEE-ASME TRANSACTIONS ON MECHATRONICS

Volume

13

Issue

6

Pages

692 - 699 (8)

Citation

SHAIR, S. ... et al, 2008. The use of aerial images and GPS for Mobile Robot Waypoint Navigation. IEEE - ASME Transactions on Mechatronics, 13 (6), pp.692-699.

Publisher

© IEEE

Version

AM (Accepted Manuscript)

Publication date

2008

Notes

© 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

ISSN

1083-4435

Language

en