Path planning for autonomous vehicles using QZSS and satellite visibility map

Mitsunori Kitamura, Yoichi Yasuoka, Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


This paper describes a path planning method that uses the Quasi-Zenith Satellites System (QZSS) and a satellite visibility map for autonomous vehicles. QZSS is a positioning system operated by Japan that has an effect similar to an increase in the number of GPS satellites. Therefore, QZSS can be used to improve the availability of GPS positioning. A satellite visibility map is a special map that simulates the number of visible satellites at all points on the map. The vehicle can use the satellite visibility map to determine the points that receive more satellite signals. The proposed method generates the artificial potential fields from the satellite visibility map and obstacle information around the vehicle, and it generates the path following the potential fields. Thereby, the vehicle can select the path that has more satellite signals, improving the availability of GPS fixed solutions. Hence, the vehicle can reduce the accumulated error by dead reckoning, and it can improve the safety of self-control. In this study, we evaluate the satellite visibility maps and the path planning method. The results show that the proposed method does improve the availability of GPS fixed solutions.

Original languageEnglish
Pages (from-to)400-407
Number of pages8
JournalJournal of Robotics and Mechatronics
Issue number2
Publication statusPublished - 2013 Apr


  • GPS
  • Path planning
  • QZSS
  • Satellite visibility map

ASJC Scopus subject areas

  • General Computer Science
  • Electrical and Electronic Engineering


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