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Clustering Latent Sensor Distribution on Body Map for Generating Body Schema Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Using OpenStreetMap for Autonomous Mobile Robot Navigation

Authors : Patrick Fleischmann, Thomas Pfister, Moritz Oswald, Karsten Berns

Published in: Intelligent Autonomous Systems 14

Publisher: Springer International Publishing

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Abstract

In this paper, the integration of OpenStreetMap (OSM) geodata to a robot system which focuses on autonomous off-highway driving is presented. It is shown, how the OSM data is enriched with other data sources and how the map information is processed to generate a path that fits to the capabilities of the robot. Based on the map information, the quality of Global Satellite Navigation System (GNSS) signals is estimated and incorporated into the routing process, e.g. to avoid path with a high probably of GNSS disturbances. Furthermore, it is demonstrated how the robot’s localization based on a Carlson filter can be improved by these estimations.

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previous chapter Outdoor Robot Navigation Based on View-Based Global Localization and Local Navigation
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Footnotes
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Metadata
Title
Using OpenStreetMap for Autonomous Mobile Robot Navigation
Authors
Patrick Fleischmann
Thomas Pfister
Moritz Oswald
Karsten Berns
Copyright Year
2017
Book
Intelligent Autonomous Systems 14

Print ISBN: 978-3-319-48035-0

Electronic ISBN: 978-3-319-48036-7

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-48036-7_64

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