Skip navigation
Skip navigation

Low-cost Differential GPS for Field Robotics

Nizette, Benjamin; Tridgell, A; Yu, Changbin (Brad)

Description

In this paper we detail the design and implementation of a Differential GPS system that uses only low-cost, light-weight and widely available GPS modules. Such a system is desirable for modern field robotics in order to improve the performance of mapping, navigation, collision avoidance and other common tasks, especially on payload-constrained robots. The particular noise and error modes present in the low-cost system are investigated and algorithms introduced to minimise their effect. The...[Show more]

dc.contributor.authorNizette, Benjamin
dc.contributor.authorTridgell, A
dc.contributor.authorYu, Changbin (Brad)
dc.coverage.spatialBesancon France
dc.date.accessioned2015-12-10T23:23:30Z
dc.date.createdJuly 8-11 2014
dc.identifier.isbn9781479957361
dc.identifier.urihttp://hdl.handle.net/1885/66987
dc.description.abstractIn this paper we detail the design and implementation of a Differential GPS system that uses only low-cost, light-weight and widely available GPS modules. Such a system is desirable for modern field robotics in order to improve the performance of mapping, navigation, collision avoidance and other common tasks, especially on payload-constrained robots. The particular noise and error modes present in the low-cost system are investigated and algorithms introduced to minimise their effect. The system is demonstrated in the context of field robotics for stationary, ground-based and airbourne agents. It is found that the majority of the error due to the low cost components can be manipulated to be of a form easily mitigated for most robots. The system is shown to provide good results in the horizontal plane in open environments such as those typically used for outdoor experimental robotics while being one to two orders of magnitude cheaper than comparable commercial systems.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseries2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
dc.sourceLow-cost Differential GPS for Field Robotics
dc.titleLow-cost Differential GPS for Field Robotics
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2014
local.identifier.absfor080101 - Adaptive Agents and Intelligent Robotics
local.identifier.ariespublicationu4334215xPUB1378
local.type.statusPublished Version
local.contributor.affiliationNizette, Benjamin, College of Engineering and Computer Science, ANU
local.contributor.affiliationTridgell, A, College of Engineering and Computer Science, ANU
local.contributor.affiliationYu, Changbin (Brad), College of Engineering and Computer Science, ANU
local.description.embargo2037-12-31
local.bibliographicCitation.startpage1521
local.bibliographicCitation.lastpage1526
local.identifier.doi10.1109/AIM.2014.6878299
local.identifier.absseo970108 - Expanding Knowledge in the Information and Computing Sciences
local.identifier.absseo970109 - Expanding Knowledge in Engineering
dc.date.updated2015-12-10T10:40:25Z
local.identifier.scopusID2-s2.0-84906709051
CollectionsANU Research Publications

Download

File Description SizeFormat Image
01_Nizette_Low-cost_Differential_GPS_for_2014.pdf1.38 MBAdobe PDFThumbnail


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  17 November 2022/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator