基于低成本imu的移动机器人空间里程测量

2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2018-07-01 DOI:10.1109/MESA.2018.8449209

Xiaolong Zhang, Teemu Mononen, J. Mattila, M. M. Aref

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引用次数: 0

摘要

本文展示了利用微机电系统(MEMS)低成本惯性测量单元(imu)，通过提供车轮及其悬架相对于重力的旋转角度，来实现移动车辆或现场机器人的绝对里程计信息。此外，该算法通过积分旋转陀螺仪的输出来计算转向架的偏航角和横摇角信息，大大降低了转向架的角度漂移。搭建了实验平台，对算法进行了验证，并对结果进行了详细分析。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Mobile Robotic Spatial Odometry by Low-Cost IMUs

This paper shows the use of microelectromechanical system (MEMS) low-cost inertial measurement units (IMUs) to realize absolute odometry information for a mobile vehicle or field robotics, by providing the rotation angle of a wheel and its suspensions with respect to gravity. In addition, with the proposed algorithm we calculate the yaw and roll angle information for the bogie by integrating the output of the rotation gyroscope, which decreases the angle drift considerably. A test bed was set up to validate the algorithm, and the results are analyzed in detail.

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来源期刊

2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)

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