Title :
Mobile robot position determination using data from gyro and odometry
Author :
Azizi, Farouk ; Houshangi, Nasser
Author_Institution :
Dept. of Electr. & Comput. Eng., Purdue Univ., Hammond, IN, USA
Abstract :
The research objective is to determine an accurate position and orientation for mobile robots based on information received from odometry and inertial sensors. For a wheeled robot, odometry is one of the important means of achieving the robot position. To improve on odometry´s error, the information from odometry is integrated with the inertial system using unscented Kalman filter (UKF).
Keywords :
Kalman filters; attitude measurement; distance measurement; gyroscopes; inertial navigation; mobile robots; position measurement; sensor fusion; gyroscope data; inertial sensors; mobile robot orientation; mobile robot position determination; odometry data; odometry error; unscented Kalman filter; wheeled robot; Gyroscopes; Inertial navigation; Mobile robots; Nonlinear systems; Position measurement; Robot kinematics; Robot sensing systems; Sensor systems; Vehicles; Wheels;
Conference_Titel :
Electrical and Computer Engineering, 2004. Canadian Conference on
Print_ISBN :
0-7803-8253-6
DOI :
10.1109/CCECE.2004.1345215
