| Title |
A Comparative Study on GPS Module and SLAM Module for Driving Stability of Waypoint-based Autonomous Delivery Robots |
| Authors |
김봉상(Bongsang Kim) ; 남일진(Iljin Nam) ; 류제규(Jaekyu Ryu) ; 문희창(Heechang Moon) |
| DOI |
https://doi.org/10.5573/ieie.2022.59.12.87 |
| Keywords |
Autonomous mobile robot; Waypoint driving; SLAM; Precision positioning |
| Abstract |
In this paper, we present a comparative study on GPS module and SLAM module for driving stability of Waypoint-based autonomous driving delivery robots. The GPS module is a representative method of recognizing a location in real time outdoors. However, it is easy to be disturbed by external environments such as artificial and natural structures. Therefore, the SLAM method using LiDAR was developed for accurate location recognition in complex environments such as urban areas. However, the SLAM method will not be available in all environments, and it is necessary to develop a method to clearly find and supplement this part. Therefore, this study compares GPS position recognition autonomous driving and SLAM position recognition autonomous driving under the same conditions in which an unstructured environment is created using an autonomous driving platform applied with Waypoint driving technique, and confirms the possibility of future fusion of GPS modules and SLAM modules. |