DocumentCode :
3305533
Title :
Position estimation of a mobile robot using optical fiber gyroscope (OFG)
Author :
KOMORIYA, Kiyoshi ; Oyama, Eimei
Author_Institution :
Robotics Dept., AIST MITI, Ibaraki, Japan
Volume :
1
fYear :
1994
fDate :
12-16 Sep 1994
Firstpage :
143
Abstract :
Recognition of the actual position is very important for a mobile robot to move around in its environment. The most common method of position estimation is dead reckoning usually achieved by integrating wheel rotation along the path. This method, however, has a serious problem that the estimation errors are accumulated. In this paper we propose using an optical fiber gyroscope (OFG) combined with the information provided by the wheel encoders to improve the accuracy of position estimation. The formulation using a Kalman filter to combine the information of the encoders with that of the OFG is described. The simulation results and the experimental results show the effectiveness of the proposed method
Keywords :
Kalman filters; fibre optic sensors; filtering theory; gyroscopes; mobile robots; position measurement; Kalman filter; OFG; mobile robot; optical fiber gyroscope; position estimation; wheel encoders; Angular velocity; Dead reckoning; Estimation error; Gyroscopes; Laser beams; Mobile robots; Motion control; Optical fibers; Robot sensing systems; 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.1994.407398
Filename :
407398
Link To Document :
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