DEVELOPMENT OF A NAVIGATION ALGORITHM WITH DEAD RECKONING FOR UNMANNED GROUND VEHICLES

YOON, B. J.; LEE, J. Y.; KIM, J. H.; HAN, C. S.

doi:2011.12.1.111

International Journal of Automotive Technology > Volume 12(1); 2011 > Article

Intelligent Vehicle / Transportation Systems

International Journal of Automotive Technology 2011;12(1): 111-118.
doi: https://doi.org/10.1007/s12239-011-0014-z

DEVELOPMENT OF A NAVIGATION ALGORITHM WITH DEAD RECKONING FOR UNMANNED GROUND VEHICLES

B. J. YOON¹, J. Y. LEE², J. H. KIM³, C. S. HAN²

¹Koomin Universioty
²Hanyang University
³Kookmin University

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.

Key Words: UGV(Unmanned Ground Vehicle), RTK, DGPS, Navigation, DR(Dead Reckoning), Global path

TOOLS