Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope

被引：0

作者：

Chung, H ^{[1
]}

Ojeda, L

Borenstein, J

机构：

[1] Seoul Natl Univ Technol, Dept Control & Instrumentat Engn, Seoul 139743, South Korea

[2] Univ Michigan, Adv Technol Lab, Ann Arbor, MI 48109 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2001年 / 17卷 / 01期

关键词：

dead-reckoning; fiber-optic gyroscope; indirect feedback; Kalman filter; mobile robot; odometry;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes two methods aimed at improving dead-reckoning accuracy with fiber-optic gyroscopes (FOGs) in mobile robots. The first method is a precision calibration procedure for FOGs, which effectively reduces the ill effects of nonlinearity of the scale-factor and temperature dependency, The second method is the implementation of an indirect feedback Kalman filter that fuses the sensor data from the FOG with the odometry system of the mobile robot. The paper also provides experimental results and compares the relative effectiveness of the two methods as implemented on a four-wheel drive/skidsteer Pioneer AT mobile robot.

引用

页码：80 / 84

页数：5

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