轮式机器人在室外地形中的惯性导航

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI:10.1109/ROMOCO.2005.201419

J. Koch, Carsten Hillenbrand, K. Berns

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引用次数: 17

摘要

本文介绍了一种用于自主户外车辆行为控制的惯性测量系统的实现。惯性传感器系统可以大大提高自主航位推算导航的性能。确定的方向信息对于更高级别的基于行为的控制也是必需的，以允许寻路适应环境。

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Inertial navigation for wheeled robots in outdoor terrain

The implementation of an inertial measurement system used within the behavior-based control of an autonomous outdoor vehicle is presented in this paper. Autonomous dead-reckoning navigation can be substantially improved by an inertial sensor system. The determined orientation information is also mandatory for higher level behavior-based control to allow path-finding adaptive to the environment.

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Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.

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