Localization for Outdoor Mobile Robot Using LiDAR and RTK-GNSS/INS

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dc.contributor.authorThepsit, Thitipong
dc.contributor.authorKonghuayrob, Poom
dc.contributor.authorSaenthon, Anakkapon
dc.contributor.authorYanyong, Sarucha
dc.date.accessioned2026-08-06T10:44:43Z
dc.date.available2026-08-06T10:44:43Z
dc.date.issued2024-01-01
dc.description.abstractTwo types of sensors, light detection and ranging (LiDAR) and real-time kinematic of global navigation satellite system with inertial navigation system (RTK-GNSS/INS), are used for the localization of outdoor mobile robots. However, using LiDAR and RTK-GNSS/INS independently was found to be insufficient for achieving precise positioning. Therefore, a sensor fusion approach based on an adaptive-network-based fuzzy inference system (ANFIS) was implemented to enhance reliability. In this research, data from both sensors were collected to create a dataset for training with ANFIS. The findings indicated that the model derived from the fusion of these two sensors provided results that were much closer to the actual values obtained using each sensor independently. The result demonstrated the effectiveness of the ANFIS-based fusion method in terms of improving the accuracy and reliability of the positioning system for outdoor mobile robots.
dc.identifier.citationSensors and Materials, 36(4), 1405-1418, 2024
dc.identifier.doi10.18494/SAM4841
dc.identifier.issn09144935
dc.identifier.other2-s2.0-85191611956
dc.identifier.urihttps://dspace.kmitl.ac.th/handle/123456789/15272
dc.sourceSensors and Materials
dc.subjectautonomous mobile robot
dc.subjectfusion sensor
dc.subjectlocalization
dc.subjectneural fuzzy interface
dc.subjectodometry
dc.titleLocalization for Outdoor Mobile Robot Using LiDAR and RTK-GNSS/INS
dc.typeArticle

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