DEAD RECKONING OF MOBILE ROBOT IN COMPLEX TERRAIN BASED ON PROPRIOCEPTIVE SENSORS

摘要：

It is a key issue for mobile robot navigation to have the ability of accurate and reliable dead reckoning. Aimed at this issue, dead reckoning of mobile robot in complex terrain is analyzed by the rigid-body kinematic constraints of mobile robot. At the same time, the kinematic model of mobile robot is obtained using multiple proprioceptive sensors information from odometry, fiber optic gyro, tilt sensor, et al. A method of kinematic model integrated with wheel-ground contact angle is suggested to estimate the relative motion trajectory of mobile robot. Experimental results obtained in simulation and with real robot on different terrains demonstrate that this method is more close to real pose of mobile robot than to calculate only with the pitch.

关键词： Mobile robot Dead reckoning Proprioceptive sensor Kinematic model Wheel-ground contact angle

作者: JIN-XIA YU ZI-XING CAI ZHUO-HUA DUAN

作者单位: College of Computer Science & Technology, Henan Polytechnic University, Jiaozuo, 454003, China College of Information Science & Engineering, Central South University, Changsha, 410083, China Department of Computer, Shaoguan University, Shaoguan, 512003, China

会议类型: 国际会议

会议名称: 2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)

会议地点: 昆明

会议语种:英文

页码: 1930-1935

在线出版日期: 2008-07-12（万方平台首次上网日期，不代表论文的发表时间）