DocumentCode
1604003
Title
Mobile robot position determination using data from gyro and odometry
Author
Azizi, Farouk ; Houshangi, Nasser
Author_Institution
Dept. of Electr. & Comput. Eng., Purdue Univ., Hammond, IN, USA
Volume
2
fYear
2004
Firstpage
719
Abstract
The research objective is to determine an accurate position and orientation for mobile robots based on information received from odometry and inertial sensors. For a wheeled robot, odometry is one of the important means of achieving the robot position. To improve on odometry´s error, the information from odometry is integrated with the inertial system using unscented Kalman filter (UKF).
Keywords
Kalman filters; attitude measurement; distance measurement; gyroscopes; inertial navigation; mobile robots; position measurement; sensor fusion; gyroscope data; inertial sensors; mobile robot orientation; mobile robot position determination; odometry data; odometry error; unscented Kalman filter; wheeled robot; Gyroscopes; Inertial navigation; Mobile robots; Nonlinear systems; Position measurement; Robot kinematics; Robot sensing systems; Sensor systems; Vehicles; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Computer Engineering, 2004. Canadian Conference on
ISSN
0840-7789
Print_ISBN
0-7803-8253-6
Type
conf
DOI
10.1109/CCECE.2004.1345215
Filename
1345215
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