Robot Pose Measurement Based on Sensor Fusion

DOI

10.2991/jrnal.2014.1.3.10How to use a DOI?

Keywords

sensor fusion; DCM; EKF filtering

Abstract

In the motion control research of mobile robot, the mobile robot pose is obtained by derivation of the Kinematic model of the robot. Generally, the motion model relies simply on the data from encoder feedback. Due to cumulative error, the robot pose accuracy is relatively poor by mileage positioning with encoder. Here a new method is put forward based on data fusion of gyro sensor with the encoder data, and the robot pose accuracy is analyzed and improved.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - JOUR
AU  - Jiwu Wang
AU  - Shunkai Zheng
AU  - Fangbo Liao
AU  - Masanori Sugisaka
PY  - 2014
DA  - 2014/12/15
TI  - Robot Pose Measurement Based on Sensor Fusion
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 216
EP  - 219
VL  - 1
IS  - 3
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.2014.1.3.10
DO  - 10.2991/jrnal.2014.1.3.10
ID  - Wang2014
ER  -