Kinematic GPS in a Robotic Vehicle

Yingfeng Li and Phillip Noe

Abstract:	GPS is now becoming feasible to use as the primary positioning system in conjunction with Intelligent Vehicle Highway Systems (IVHS). Robotic vehicle navigation requires vehicle position updates on a timely basis that affords real-time guidance and control of the robotic vehicle. The objective of our work is to present a new approach to the IVHS solution using our kinematic GPS model to provide submeter accuracy. The genetic algorithm has been used to perform kinematic positioning instead of traditional least-squares technique. The three-dimensional problem for robotic vehicles is then simplified by moving the vehicle onto a highway in a high occupancy vehicles (HOV) lane. In this paper it is shown that the highway enviromnent simulations provide all the aiding that is required to provide the precision needed to navigate a robotic vehicle system.
Published in:	Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994) September 20 - 23, 1994 Salt Palace Convention Center Salt Lake City, UT
Pages:	543 - 546
Cite this article:	Li, Yingfeng, Noe, Phillip, "Kinematic GPS in a Robotic Vehicle," Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994), Salt Lake City, UT, September 1994, pp. 543-546.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In