Multisensor 3D posture determination of a mobile robot using inertial and ultrasonic sensors

被引：18

作者：

Tsai, CC ^{[1
]}

Lin, HH ^{[1
]}

Lai, SW ^{[1
]}

机构：

[1] Natl Chung Hsing Univ, Dept Elect Engn, Taichung 40227, Taiwan

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2005年 / 42卷 / 04期

关键词：

extended Kalman filtering (EKF); inertial navigation system; mobile robot; posture determination; ultrasonics;

D O I：

10.1007/s10846-005-3894-1

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents methodologies and techniques for fusing inertial and ultrasonic sensors to estimate the current posture of a mobile robot navigating over indoor uneven terrain. This new type of pose tracking system is developed by means of fusing an inertial navigation subsystem (INS) and an ultrasonic localization subsystem. Extended Kalman filtering (EKF)-based algorithm for integrating both the subsystems is proposed to obtain reliable attitude and position estimates of the vehicle and to eliminate the accumulation errors caused by wheel slippage and surface roughness. Experimental results are conducted to illustrate feasibility and effectiveness of the proposed system and method.

引用

页码：317 / 335

页数：19

共 22 条

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