DGPS-BASED LOCALIZATION FOR PATH FOLLOWING OF OUTDOOR WHEELED MOBILE ROBOTS

Abstract

Differential Global Positioning System (dGPS) sensors provide a way for an outdoor wheeled mobile robot to achieve better localization that results in improved navigation and control of outdoor Wheeled Mobile Robots (WMR). This thesis proposes an approach for path following of outdoor WMR. The primary focus of the approach is to use dGPS technology as the only sensing device for localization. Filter estimation techniques are also considered to account for measurement inaccuracies. The Extended Kalman Filter (EKF) is chosen and implemented as part of this approach for improved results. A secondary focus of the approach, is to incorporate a modified Potential Field Path Planning (PFPP) as an integral part of the proposed technique. The dGPS-based proposed path following approach is first simulated in the simulation environment. After which, it is applied and tested on a WMR experimental platform for a set of experimental cases.