Evaluation of Accelerometers as Inertial Navigation System for Mobile Robots

@inproceedings{citeulike:1606229, abstract = {This article describes the tests and results of the evaluation of an inertial navigation system for a mobile robot, as a mechanism for supplying additional information to the self-localization process. The mobile robot under study has differential steering, a built-in odometric system based on optical encoders for each wheel, and an on-board processor that calculates the position relative to any start point. The inertial system consists of an X-Y dual axis accelerometer, to calculate the position through double integration. The errors of the models are examined and included into the sensors and mobile robot models to validate the estimated position. Many movement conditions like straight and circular paths, including collisions, are identified with both odometric and inertial systems to obtain a more accurate value of the relative position. Results are presented for these conditions, showing that information given by a low cost navigation system based on encoders and accelerometers, with the proper signal processing, can reduce long-term errors and drifts}, author = {Piedrahita and Andres, Giovanny and Guayacundo and Marcela, Diana }, booktitle = {Robotics Symposium, 2006. LARS '06. IEEE 3rd Latin American}, citeulike-article-id = {1606229}, journal = {Robotics Symposium, 2006. LARS '06. IEEE 3rd Latin American}, keywords = {acceleration, ins}, pages = {84--90}, posted-at = {2007-08-29 22:46:55}, priority = {2}, title = {Evaluation of Accelerometers as Inertial Navigation System for Mobile Robots}, url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=4133825}, year = {2006} }

TY - CONF ID - citeulike:1606229 L3 - citeulike-article-id:1606229 TI - Evaluation of Accelerometers as Inertial Navigation System for Mobile Robots T2 - Robotics Symposium, 2006. LARS '06. IEEE 3rd Latin American JF - Robotics Symposium, 2006. LARS '06. IEEE 3rd Latin American SP - 84 EP - 90 N2 - This article describes the tests and results of the evaluation of an inertial navigation system for a mobile robot, as a mechanism for supplying additional information to the self-localization process. The mobile robot under study has differential steering, a built-in odometric system based on optical encoders for each wheel, and an on-board processor that calculates the position relative to any start point. The inertial system consists of an X-Y dual axis accelerometer, to calculate the position through double integration. The errors of the models are examined and included into the sensors and mobile robot models to validate the estimated position. Many movement conditions like straight and circular paths, including collisions, are identified with both odometric and inertial systems to obtain a more accurate value of the relative position. Results are presented for these conditions, showing that information given by a low cost navigation system based on encoders and accelerometers, with the proper signal processing, can reduce long-term errors and drifts KW - acceleration KW - ins AU - Piedrahita AU - Andres, Giovanny AU - Guayacundo AU - Marcela, Diana PY - 2006/// UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4133825 ER -