Dead reckoning of mobile robot in complex terrain based on proprioceptive sensors

It is a key issue for mobile robot navigation to have the ability of accurate and reliable dead reckoning. Aimed at this issue, dead reckoning of mobile robot in complex terrain is analyzed by the rigid-body kinematic constraints of mobile robot. At the same time, the kinematic model of mobile robot is obtained using multiple proprioceptive sensors' information from odometry, fiber optic gyro, tilt sensor, et al. A method of kinematic model integrated with wheel-ground contact angle is suggested to estimate the relative motion trajectory of mobile robot. Experimental results obtained in simulation and with real robot on different terrains demonstrate that this method is more close to real pose of mobile robot than to calculate only with the pitch.