Carrier Phase Differential GPS based navigation system for automated ground vehicles

摘要

Recently the Global Positioning System (GPS) technologies have made innovations in the guidance area of small mobile robots. Precisely controllable Autonomous Ground Vehicles (AGVs) can support a variety of highly-detailed missions that are operated in unsafe or so difficult environments, such as removal of hazardous chemical, explosive, or radioactive waste. AGVs offer many potential advantages over human control. However unsuccessful operations have happened due to positioning sensor limitations. With the recent development of Carrier Phase Differential GPS(CDGPS) technology a single inexpensive GPS receiver can measure a position of a vehicle's position to within a few centimeter errors. In this paper a Global Navigation Satellite System(GNSS)-based AGV system was designed, and tested on using a golf cart. A simplified vehicle model and a guidance algorithm are employed for a GNSS-based AGVs system. The proposed strategy has been successfully tested in a large field which is associated with three trajectories (straight, circle, curve). Test result of golf cart position error is 0.3m in comparison with reference trajectories.