DocumentCode :
292399
Title :
Internal correction of dead-reckoning errors with the smart encoder trailer
Author :
Borenstein, Johann
Author_Institution :
Michigan Univ., MI, USA
Volume :
1
fYear :
1994
fDate :
12-16 Sep 1994
Firstpage :
127
Abstract :
This paper presents an innovative method for accurate mobile robot dead-reckoning, called internal position error correction (IPEC). In previous work, the IPEC method was successfully implemented on a specially designed mobile robot with two differential drive axles, called the multi-degree-of-freedom (MDOF) mobile robot. Experimental results with the MDOF robot showed consistently one to two orders of magnitude better dead-reckoning accuracy than systems based on conventional dead-reckoning. Yet, the IPEC system requires neither external references (such as navigation beacons, artificial landmarks, known floorplans, or satellite signals), nor inertial navigation aids (such as accelerometers or gyros). This paper focuses on our current efforts to implement the IPEC method on a device that can be added to any existing mobile robot. This device, called the “Smart Encoder Trailer” (SET), is a small, single-axle trailer with an incremental encoder on each of its two wheels. Although the SET is not functional yet, simulation results combined with experimental results from the (similarly configured) MDOF vehicle strongly suggest the feasibility of the SET implementation
Keywords :
encoding; mobile robots; IPEC; MDOF mobile robot; SET; accurate mobile robot dead-reckoning; dead-reckoning error correction; incremental encoder; internal position error correction; multi-degree-of-freedom mobile robot; small single-axle trailer; smart encoder trailer; Accelerometers; Artificial satellites; Axles; Error correction; Inertial navigation; Mobile robots; Monitoring; Satellite navigation systems; Vehicles; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
Type :
conf
DOI :
10.1109/IROS.1994.407400
Filename :
407400
Link To Document :
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