It's a Robot Life: Using GPS and Pseudolites for Humanoid Robot Positioning

摘要

In this article the authors discuss the global positioning system (GPS) and pseudolite infrastructure used by the Waseda Humanoid Robot Project as applied in the positioning for their experimental robots. Pseudolites are a useful supplement for GPS for this application as GPS has limited functionality for use indoors or if obstructions are encountered- both likely scenarios for the robots being developed. Testing using the hybrid system is described for both simulated household situations in the near-future as well as for simulated medical care facilities. Integrating the floor map, furniture locations, security information, and specifications for the robots, the system aims to allow for seamless movement of the robot within the designated space. The article notes that, in the future, robot navigation will require an integrated GPS/vision navigation complex to allow for visual navigation using landmarks.