Title :
Inertial navigation for wheeled robots in outdoor terrain
Author :
Koch, Jan ; Hillenbrand, Carsten ; Berns, Karsten
Author_Institution :
Dept. of Comput. Sci., Univ. of Kaiserslautern Gottlieb-Daimler-Strafie, Germany
Abstract :
The implementation of an inertial measurement system used within the behavior-based control of an autonomous outdoor vehicle is presented in this paper. Autonomous dead-reckoning navigation can be substantially improved by an inertial sensor system. The determined orientation information is also mandatory for higher level behavior-based control to allow path-finding adaptive to the environment.
Keywords :
inertial navigation; inertial systems; mobile robots; position control; remotely operated vehicles; autonomous dead-reckoning navigation; autonomous outdoor vehicle; behavior-based control; inertial measurement system; inertial navigation; inertial sensor system; mobile robot; orientation information; outdoor terrain; path finding; wheeled robots; Acceleration; Angular velocity; Assembly systems; Control systems; Inertial navigation; Mobile robots; Robot sensing systems; Robotic assembly; Sensor fusion; Sensor systems; behavior; inertial measurement system; mobile robot; navigation;
Conference_Titel :
Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on
Print_ISBN :
83-7143-266-6
DOI :
10.1109/ROMOCO.2005.201419
