TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

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

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
Otsikko14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)
AlaotsikkoOulu, July 2-4, 2018.
JulkaisupaikkaOulu
KustantajaIEEE
Sivumäärä6
ISBN (elektroninen)978-1-5386-4643-4
DOI - pysyväislinkit
TilaJulkaistu - 30 elokuuta 2018
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications -
Kesto: 24 elokuuta 2018 → …

Conference

ConferenceIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Ajanjakso24/08/18 → …

Tiivistelmä

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.