Mobile Robotic Spatial Odometry by Low-Cost IMUs

被引：0
|
作者：
Zhang, Xiaolong [1 ]
Mononen, Teemu [1 ]
Aref, Mohammad M. [1 ]
Mattila, Jouni [1 ]
机构：
[1] Tampere Univ Technol, Automat & Hydraul Engn, Tampere, Finland
来源：
2018 14TH IEEE/ASME INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS (MESA) | 2018年
基金：
芬兰科学院;
关键词：
MEMS; IMU; EKF; AFS; mobile robotics;
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 shows the use of microelectromechanical system (MEMS) low-cost inertial measurement units (IMUs) to realize absolute odometry information for a mobile vehicle or field robotics, by providing the rotation angle of a wheel and its suspensions with respect to gravity. In addition, with the proposed algorithm we calculate the yaw and roll angle information for the bogie by integrating the output of the rotation gyroscope, which decreases the angle drift considerably. A test bed was set up to validate the algorithm, and the results are analyzed in detail.
引用
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页数：6
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