A dead reckoning sensor system and a tracking algorithm for mobile robots
14 Apr 2009-pp 1-6
TL;DR: A dead reckoning sensor system and a tracking algorithm for mobile robots to estimate the path when a mobile robot explores an unknown, enclosed region where GPS access or landmarks are unavailable can be applied to estimate position or path of mobile robots without external aids.
Abstract: We have developed a dead reckoning sensor system and a tracking algorithm for mobile robots to estimate the path when a mobile robot explores an unknown, enclosed region where GPS access or landmarks are unavailable. A dead reckoning sensor system consists of a low-cost MEMS IMU and a navigation sensor (used in laser mice), which provide complementary functions. The IMU has benefits such as compact size, a self-contained system, and an extremely low failure rate but has a bias drift problem, which can accumulate substantial error over time. A navigation sensor measures the motion of a mobile robot directly without the slip error in the case of a wheel-type odometer, but it often fails to read a surface. A tracking algorithm consists of an extended Kalman filter (EKF) to fuse data from the IMU and the navigation sensor and a least-squares method to estimate acceleration bias in the EKF. We obtained experimental data by driving a radio-controlled car equipped with the sensor system in a 3D pipeline and compared the path estimated by the tracking algorithm with the path of the pipeline. The tracking algorithm combined data from the IMU and the navigation sensor and correctly estimated the path of the radio-controlled car. Our study can be applied to estimate position or path of mobile robots without external aids such as GPS, landmarks, and beacons.
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TL;DR: An approach for the indoor localization of a mobile agent based on Ultra-WideBand technology using a Biased Extended Kalman Filter (EKF) as a possible technique to improve the localization is introduced.
40 citations
Cites background from "A dead reckoning sensor system and ..."
...In (Sayed et al. (2005)) a review of existing ranging techniques is provided....
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...The most important drawbacks of a MEMS IMU are bias and scale factor (Kau et al. (2000); Hung et al. (1989); Hyun et al. (2009); Hulsing (1998a,b))....
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06 May 2013
TL;DR: This paper proposes a novel approach to improving precision and reliability of odometry of skid-steer mobile robots by means inspired by robotic terrain classification (RTC), which is straightforward, easy for online implementation, and low on computational demands.
Abstract: This paper proposes a novel approach to improving precision and reliability of odometry of skid-steer mobile robots by means inspired by robotic terrain classification (RTC). In contrary to standard RTC approaches we do not provide human labeled discrete terrain categories but we classify the terrain directly by the values of coefficients correcting the robot's odometry. Hence these coefficients make the odometry model adaptable to the terrain type due to inherent slip compensation. Estimation of these correction coefficients is based on feature extraction from the vibration data measured by an inertial measurement unit and regression function trained offline. Statistical features from the time domain, frequency domain, and wavelet features were explored and the best were automatically selected. To provide ground truth trajectory for the purpose of offline training a portable overhead camera tracking system was developed. Experimental evaluation on rough outdoor terrain proved 67.9±7.5% improvement in RMSE in position with respect to a state of the art odometry model. Moreover, our proposed approach is straightforward, easy for online implementation, and low on computational demands.
32 citations
Cites background from "A dead reckoning sensor system and ..."
...…the inertial sensors (three accelerometers and three angular rate sensors mounted as an inertial measurement unit -IMU) [1] [2] [3] [4] [5] [6] [7], monocular [8] or stereocamera [9] to compute visual odometry, laser scanners to provide range data [10] [11], barometer for height…...
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01 Jan 2004
TL;DR: This paper presents a method for combining dead reckoning sensor information in order to provide an initial estimate of the six degrees of freedom of a rough terrain rover and shows that the use of the INS significantly improves the pose prediction.
Abstract: Many algorithms related to localization need good pose prediction in order to produce accurate results. This is especially the case for data association algorithms, where false feature matches can lead to the localization system failure. In rough terrain, the field of view can vary significantly between two feature extraction steps, so a good position prediction is necessary to robustly track features. This paper presents a method for combining dead reckoning sensor information in order to provide an initial estimate of the six degrees of freedom of a rough terrain rover. An inertial navigation system (INS) and the wheel encoders are used as sensory inputs. The sensor fusion scheme is based on an extended information filter (EIF) and is extensible to any kind and number of sensors. In order to test the system, the rover has been driven on different kind of obstacles while computing both pure 3D-odometric and fused INS/3D-odometry trajectories. The results show that the use of the INS significantly improves the pose prediction.
31 citations
TL;DR: The main focus is to explore the functionality of the cognitive maps developed in these mobile robot systems with respect to route planning, as well as a discussion/analysis of the computational complexity required to scale these systems.
Abstract: In an attempt to better understand how the navigation part of the brain works and to possibly create smarter and more reliable navigation systems, many papers have been written in the field of biomimetic systems. This paper presents a literature survey of state-of-the-art research performed since the year 2000 on rodent neurobiological and neurophysiologically based navigation systems that incorporate models of spatial awareness and navigation brain cells. The main focus is to explore the functionality of the cognitive maps developed in these mobile robot systems with respect to route planning, as well as a discussion/analysis of the computational complexity required to scale these systems.
19 citations
TL;DR: This paper addresses the problem of making a non-holonomic wheeled mobile robot (WMR) move to a target object using computer vision and obstacle-avoidance techniques, and uses a multi-controller model that uses fuzzy-logic controllers to manage the path to the target.
Abstract: This paper addresses the problem of making a non-holonomic wheeled mobile robot (WMR) move to a target object using computer vision and obstacle-avoidance techniques. If a priori information about ...
10 citations
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TL;DR: Experimental results are presented that show a consistent improvement of at least one order of magnitude in odometric accuracy (with respect to systematic errors) for a mobile robot calibrated with the method described.
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734 citations
01 Jun 1999
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446 citations