The ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrol robot: in contrast with most approaches in literature, we show how a positioning subsystem composed exclusively of a non-differential GPS unit (i.e., without inertial sensors) is enough to ensure accurate estimates of the robot's position and orientation, under the assumption of non-holonomic kinematics.
GPS-based localization for a surveillance UGV in outdoor areas
CAPEZIO, FRANCESCO;SGORBISSA, ANTONIO;ZACCARIA, RENATO UGO RAFFAELE
2005-01-01
Abstract
The ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrol robot: in contrast with most approaches in literature, we show how a positioning subsystem composed exclusively of a non-differential GPS unit (i.e., without inertial sensors) is enough to ensure accurate estimates of the robot's position and orientation, under the assumption of non-holonomic kinematics.
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