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Mobile robotic spatial odometry by low-cost IMUs: (Inertial Measurement Unit Sensors)

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publication14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)
Subtitle of host publicationOulu, July 2-4, 2018.
Place of PublicationOulu
PublisherIEEE
Number of pages6
ISBN (Electronic)978-1-5386-4643-4
DOIs
Publication statusPublished - 30 Aug 2018
Publication typeA4 Article in a conference publication
EventIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications -
Duration: 24 Aug 2018 → …

Conference

ConferenceIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Period24/08/18 → …

Abstract

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.