Data Acquisition and Processing with Fusion Sensors, Used in Algorithms for Increasing Accuracy of Position Measurement of Mobile Robots

被引：0

作者：

Florin, Sandru ^{[1
]}

Sorin, Nanu ^{[1
]}

Romeo, Negrea ^{[2
]}

Anca, Popescu ^{[1
]}

Sergiu, Fericel ^{[1
]}

机构：

[1] Politehn Univ Timisoara, Fac Automat & Comp, Bv V Parvan 2, Timisoara 300223, Romania

[2] Politehn Univ Timisoara, Dept Math, Victoria Sq 2, Timisoara 300030, Romania

来源：

SOFT COMPUTING APPLICATIONS, SOFA 2016, VOL 2 | 2018年 / 634卷

关键词：

Mobile robot; Accelerometer; Encoder; Fusion sensors; Kalman filter; Data processing; VELOCITY ESTIMATION; KALMAN FILTER;

D O I：

10.1007/978-3-319-62524-9_42

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

For a mobile robot movement, the position measurement using internal reference sensors are of low accuracy. Encoder measurements are affected by skid, accelerometer results are affected by noise and final calculation by additive errors. In this paper is presented a method for acquiring and processing data in order to be used for the correction to be performed in order to determine the position of a mobile robot with increased accuracy. The used sensors in the proposed system are accelerometer and encoders, while the perturbation filtering is made with Kalman method. The data obtained from sensors are processed and analyzed, in order to reduce the measurement error.

引用

页码：565 / 578

页数：14

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