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

被引：10
|
作者：
Yu, Jin-Xia [1 ]
Cai, Zi-Xing [2 ]
Duan, Zhuo-Hua [3 ]
机构：
[1] Henan Polytech Univ, Coll Comp Sci & Technol, Jiaozuo 454003, Peoples R China
[2] Ctr South Univ, Coll Informat Sci & Engn, Changsha 410083, Hunan, Peoples R China
[3] Shaoguan Univ, Dept Comp, Shaoguan 512003, Peoples R China
来源：
PROCEEDINGS OF 2008 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7 | 2008年
关键词：
mobile robot; dead reckoning; proprioceptive sensor; kinematic model; wheel-ground contact angle;
D O I：
10.1109/ICMLC.2008.4620722
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1930 / +
页数：2
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