Posture estimation of a car-like mobile robot using disturbance conditions
SCIE
SCOPUS
- Title
- Posture estimation of a car-like mobile robot using disturbance conditions
- Authors
- Kim, MC; Chung, WK
- Date Issued
- 1999-01
- Publisher
- VSP BV
- Abstract
- In this paper, we propose an improved dead-reckoning method for estimating the current position and orientation of a mobile robot using wheel-rotation sensors and a gyroscope. Up to now, a pre-identified model has usually been used to get accurate posture from the gyroscope. However, this model can lose its accuracy during the operation (e.g. due to temperature change). To overcome this limitation, a real-time identification method based on the disturbance condition is proposed so that the gyroscope information can keep its accuracy. The disturbance condition can determine whether there are lateral or longitudinal disturbances or not. Experimental results are presented, which show the effectiveness of our method in contrast with conventional ones.
- Keywords
- posture estimation; scaling factor of gyroscope; odometry; disturbance condition; real-time gyroscope identification
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/20211
- DOI
- 10.1163/156855399X00216
- ISSN
- 0169-1864
- Article Type
- Article
- Citation
- ADVANCED ROBOTICS, vol. 13, no. 2, page. 189 - 202, 1999-01
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- There are no files associated with this item.
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