Title :
Immersion and invariance based experimental attitude estimation for mobile robots with low acceleration profiles
Author :
Estrada-Sánchez, I. ; Rodríguez-Cortés, H. ; Velasco-Villa, M.
Author_Institution :
Dept. de Ing. Electr., CINVESTAV-IPN, San Pedro
Abstract :
In this paper we address the attitude estimation problem, with respect to the gravity vector, for mobile robots moving on a rough terrain. The proposed algorithm is based on the immersion and invariance technique. The performance of the proposed estimation algorithm is evaluated experimentally on a low cost mobile robot equipped with an inertial measurement unit.
Keywords :
attitude measurement; mobile robots; experimental attitude estimation; gravity vector; immersion technique; inertial measurement unit; invariance technique; low acceleration profiles; mobile robots; Acceleration; Accelerometers; Attitude control; Costs; Gravity; Gyroscopes; Measurement units; Mobile robots; Nonlinear equations; Testing; Attitude estimation; inertial measurement unit; nonlinear observer design;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control, 2008. CCE 2008. 5th International Conference on
Conference_Location :
Mexico City
Print_ISBN :
978-1-4244-2498-6
Electronic_ISBN :
978-1-4244-2499-3
DOI :
10.1109/ICEEE.2008.4723455
