Orientation estimate for mobile robots using gyroscopic information
Barshan Billur, Durrant-Whyte Hugh F.
IEEE/RSJ/GI International Conference on Intelligent Robots and Systems
IEEE, Piscataway, NJ, United States
MetadataShow full item record
Please cite this item using this persistent URLhttp://hdl.handle.net/11693/27773
An error model for a solid-state gyroscope developed in previous work is included in a Kalman filter for improving the orientation estimate of a mobile robot. Orientation measurement with the error model is compared to the performance when no error model is incorporated in the system. The results demonstrate that without error compensation, the error in localization is between 5-15°/min but can be improved by a factor of 5 to 7 if an adequate error model is supplied. Results from tests of this gyroscope on a large outdoor mobile robot system are described and compared to the results obtained from the robot's own radar-based guidance system. Like all inertial systems, the platform requires additional information from some absolute position sensing mechanism to overcome long-term drift. However, the results show that with careful and detailed modelling of error sources, low cost inertial devices can provide valuable orientation and position information particularly for outdoor mobile robot applications.
- Conference Paper 2294
Showing items related by title, author, creator and subject.
Soysal, E.; Cicekli I.; Baykal, N. (2010)This paper describes an information extraction system that extracts and converts the available information in free text Turkish radiology reports into a structured information model using manually created extraction rules ...
An analysis of manipulated information and respective alternative costs in information systems and in decision making structures Güvenen O.; Öztürk, M.H. (International Institute of Informatics and Systemics, IIIS, 2006)Today Information Technologies create base for the most important decision support systems for the practices in academia, business and politics. The effectiveness and success of operations that are supported by information ...
Altingövde İ.S.; Özel, S.A.; Ulusoy Ö.; Özsoyoğlu G.; Özsoyoğlu, Z.M. (Springer Verlag, 2001)This paper deals with the problem of modeling web information resources using expert knowledge and personalized user information, and querying them in terms of topics and topic relationships. We propose a model for web ...