Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope
Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope
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DOI：
10.1109/70.917085
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发表时间：
2001-02-01
期刊：
影响因子：
--
通讯作者：
Borenstein, J
中科院分区：
文献类型：
--
作者：
Chung, H;Ojeda, L;Borenstein, J
本文介绍了利用光纤陀螺仪提高移动机器人航位推算精度的两种方法。第二种方法是实现间接反馈卡尔曼滤波，将光纤陀螺的传感器数据与移动机器人的里程计系统融合在一起。本文还提供了实验结果，并比较了两种方法在四轮驱动/滑动转向先锋AT移动机器人上的相对有效性。
This paper describes two methods aimed at improving dead-reckoning accuracy with fiber-optic gyroscopes (FOGs) in mobile robots. The first method is a precision calibration procedure for FOGs, which effectively reduces the ill effects of nonlinearity of the scale-factor and temperature dependency, The second method is the implementation of an indirect feedback Kalman filter that fuses the sensor data from the FOG with the odometry system of the mobile robot.The paper also provides experimental results and compares the relative effectiveness of the two methods as implemented on a four-wheel drive/skidsteer Pioneer AT mobile robot.