Odometry error correction by sensor fusion for autonomous mobile robot navigation

Author

Sauer, Cristina Tarín ; Brugger, Hermann ; Hofer, Eberhard P. ; Tibken, Bernd

Author_Institution

Dept. of Meas., Control & Microtechnol., Ulm Univ., Germany

Volume

3

fYear

2001

fDate

2001

Firstpage

1654

Abstract

A low cost navigation system is developed which fuses inertial sensor information provided by gyroscopes and odometry information. Both Kalman filters and a rule set based fusion strategy are used to correct the odometry errors in orientation for mobile robots. The fusion system even improves orientation estimation using a gyroscope with an extremely high drift rate. This navigation system is implemented on the autonomous mobile robot B21. The performance of this fusion method is tested on different surfaces and orientation errors do not increase as the robot travels along. Experimental results demonstrate that even in harsh environments with obstacles the performance of the designed navigation system reduces odometry tracking errors. The effects of nonsystematic odometry errors caused by unpredictable large bumps or objects encountered on the floor are reduced

Keywords

Kalman filters; angular measurement; collision avoidance; distance measurement; error correction; gyroscopes; inertial navigation; mobile robots; sensor fusion; tracking filters; Kalman filters; autonomous mobile robot navigation; gyroscopes; harsh environments; inertial sensor information; intelligent computing; low cost navigation system; nonsystematic odometry errors; obstacles; odometry error correction; optical shaft encoders; orientation estimation; rule set based fusion strategy; sensor fusion; tracking errors; unpredictable large bumps; virtual measurement systems; Automatic control; Control systems; Electric variables measurement; Error correction; Gyroscopes; Mobile robots; Navigation; Position measurement; Sensor fusion; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation and Measurement Technology Conference, 2001. IMTC 2001. Proceedings of the 18th IEEE

Conference_Location

Budapest

ISSN

1091-5281

Print_ISBN

0-7803-6646-8

Type

conf

DOI

10.1109/IMTC.2001.929484

Filename

929484