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Title: The use of aerial images and GPS for Mobile Robot Waypoint Navigation
Authors: Shair, Sultan
Chandler, Jim H.
Gonzalez Villela, Victor J.
Parkin, Robert M.
Jackson, Michael R.
Keywords: Aerial imagery
European geostationary navigation overlay service (EGNOS)
Map datum
Mobile robot
Overhead images
Synchronous drive robot
Wide area augmentation system (WAAS)
Issue Date: 2008
Publisher: © IEEE
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.
Abstract: 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.
Description: © 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.
Sponsor: 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.
Version: Accepted for publication
DOI: 10.1109/TMECH.2008.2005197
URI: https://dspace.lboro.ac.uk/2134/14831
Publisher Link: http://dx.doi.org/10.1109/TMECH.2008.2005197
ISSN: 1083-4435
Appears in Collections:Published Articles (Architecture, Building and Civil Engineering)
Published Articles (Mechanical, Electrical and Manufacturing Engineering)

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