期刊
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷 49, 期 6, 页码 1241-1253出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2017.2701353
关键词
Dead reckoning; kinematics; localization; skid-steering mobile robot
资金
- National Natural Science Foundation of China [61422307, 61473269, 61673361]
- Youth Innovation Promotion Association of Chinese Academy of Sciences
- Scientific Research Staring Foundation for the Returned Overseas Chinese Scholars and Ministry of Education of China
- Youth Top-Notch Talent Support Program
- 1000-Talent Youth Program
- Youth Yangtze River Scholar
This paper presents a novel indoor localization method for skid-steering mobile robot by fusing the readings from encoder, gyroscope, and magnetometer which can be read as an enhanced dead-reckoning localization method. Compared with the traditional dead-reckoning localization method implemented by encoder only, the accuracy and reliability can be improved significantly in spite of the price of slightly higher cost in digital devices. The proposed strategy consists mainly of an orientation algorithm and a localization algorithm. First, realizing that gyroscope is barely affected by magnetic field and magnetometer-based orientation has no cumulative error, a novel orientation algorithm, based on the self-tuning Kalman filter coupled with a gross error recognizer, is developed. This orientation algorithm can be applied to determine the robot heading angle in the situation with abundant ferromagnetic materials. Second, based on the orientation algorithm we have proposed, a novel localization algorithm is designed by decomposing the robot motion into uniform linear motion and uniform circular motion. The effectiveness of the proposed indoor localization method is verified via the real-world experiment using a tracked mobile robot developed in our laboratory.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据