Reproducibility analysis of mobile robots movement by IMU sensor measurements

Abstract

Mobile robot control mechanism required robust solution due to the wide range of movement possibilities and environmental extremums. The reproducibility analysis helps to identify the uncertainty related to movement scenario and measurement unit, such as Inertial Measurement Unit (IMU) sensor. In this paper the reproducibility of accelerometer and gyroscope sensor signals were evaluated on repeated robot movements, which were collected on two mobile robots: a hexapod robot during walking and a quadcopter drone robot during flying. The scenario time scale variability was diminished by dynamic time warping in case of drone robot. The standard deviation of variability from mean signal reach 20-50% compared to the standard deviation of the typical signal.