Dead reckoning of mobile robot in complex terrain based on proprioceptive sensors

Author

Yu, Jin-xia ; Cai, Zi-xing ; Duan, Zhuo-hua

Author_Institution

Coll. of Comput. Sci. & Technol., Henan Polytech. Univ., Jiaozuo

Volume

4

fYear

2008

fDate

12-15 July 2008

Firstpage

1930

Lastpage

1935

Abstract

It is a key issue for mobile robot navigation to have the ability of accurate and reliable dead reckoning. Aimed at this issue, dead reckoning of mobile robot in complex terrain is analyzed by the rigid-body kinematic constraints of mobile robot. At the same time, the kinematic model of mobile robot is obtained using multiple proprioceptive sensorspsila information from odometry, fiber optic gyro, tilt sensor, et al. A method of kinematic model integrated with wheel-ground contact angle is suggested to estimate the relative motion trajectory of mobile robot. Experimental results obtained in simulation and with real robot on different terrains demonstrate that this method is more close to real pose of mobile robot than to calculate only with the pitch.

Keywords

distance measurement; mobile robots; motion control; navigation; path planning; position control; robot kinematics; sensors; complex terrain; dead reckoning; fiber optic gyro; mobile robot navigation; odometry; proprioceptive sensors; relative motion trajectory estimation; rigid-body kinematic constraints; tilt sensor; wheel-ground contact angle; Cybernetics; Dead reckoning; Machine learning; Mobile robots; Navigation; Optical fiber sensors; Optical fibers; Optical sensors; Position measurement; Robot kinematics; Dead reckoning; Kinematic model; Mobile robot; Proprioceptive sensor; Wheel-ground contact angle;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2008 International Conference on

Conference_Location

Kunming

Print_ISBN

978-1-4244-2095-7

Electronic_ISBN

978-1-4244-2096-4

Type

conf

DOI

10.1109/ICMLC.2008.4620722

Filename

4620722