Title :
A dead reckoning sensor system and a tracking algorithm for mobile robot
Author :
Park, Hye Ri ; Hyun, Dong Jun ; Yang, Hyun Seok ; Park, Hyuk Sung
Author_Institution :
Dept. of Mech. Eng., Yonsei Univ., Seoul, South Korea
Abstract :
This paper presents a dead reckoning sensor system and a tracking algorithm for mobile robot localization which increases an accuracy of the estimating position at the uneven surface. A dead reckoning sensor system consists of a small, low-cost MEMS IMU and optical navigation sensor that used in laser mice. A tracking algorithm consists of multi-rate extended Kalman filter to fuse redundant and complementary data from IMU and optical navigation sensor. Also method for estimating angular velocity to estimate more accurate yaw bias is proposed. All the experiments are performed on the radio controlled car mounted with sensor system.
Keywords :
mobile robots; sensors; dead reckoning sensor system; laser mice; low-cost MEMS IMU; mobile robot localization; multi-rate extended Kalman filter; optical navigation sensor; radio controlled car; tracking algorithm; Dead reckoning; Fuses; Mice; Micromechanical devices; Mobile robots; Optical filters; Optical sensors; Radio navigation; Sensor fusion; Sensor systems; Dead Reckoning; Localization; Optical navigation sensor; Sensor fusion;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
