Title :
Odometry error correction by sensor fusion for autonomous mobile robot navigation
Author :
Sauer, Cristina Tarín ; Brugger, Hermann ; Hofer, Eberhard P. ; Tibken, Bernd
Author_Institution :
Dept. of Meas., Control & Microtechnol., Ulm Univ., Germany
Abstract :
A low cost navigation system is developed which fuses inertial sensor information provided by gyroscopes and odometry information. Both Kalman filters and a rule set based fusion strategy are used to correct the odometry errors in orientation for mobile robots. The fusion system even improves orientation estimation using a gyroscope with an extremely high drift rate. This navigation system is implemented on the autonomous mobile robot B21. The performance of this fusion method is tested on different surfaces and orientation errors do not increase as the robot travels along. Experimental results demonstrate that even in harsh environments with obstacles the performance of the designed navigation system reduces odometry tracking errors. The effects of nonsystematic odometry errors caused by unpredictable large bumps or objects encountered on the floor are reduced
Keywords :
Kalman filters; angular measurement; collision avoidance; distance measurement; error correction; gyroscopes; inertial navigation; mobile robots; sensor fusion; tracking filters; Kalman filters; autonomous mobile robot navigation; gyroscopes; harsh environments; inertial sensor information; intelligent computing; low cost navigation system; nonsystematic odometry errors; obstacles; odometry error correction; optical shaft encoders; orientation estimation; rule set based fusion strategy; sensor fusion; tracking errors; unpredictable large bumps; virtual measurement systems; Automatic control; Control systems; Electric variables measurement; Error correction; Gyroscopes; Mobile robots; Navigation; Position measurement; Sensor fusion; Sensor systems;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 2001. IMTC 2001. Proceedings of the 18th IEEE
Conference_Location :
Budapest
Print_ISBN :
0-7803-6646-8
DOI :
10.1109/IMTC.2001.929484
