Robot Pose Measurement Based on Sensor Fusion
- https://doi.org/10.2991/jrnal.2014.1.3.10How to use a DOI?
- sensor fusion; DCM; EKF filtering
In the motion control research of mobile robot, the mobile robot pose is obtained by derivation of the Kinematic model of the robot. Generally, the motion model relies simply on the data from encoder feedback. Due to cumulative error, the robot pose accuracy is relatively poor by mileage positioning with encoder. Here a new method is put forward based on data fusion of gyro sensor with the encoder data, and the robot pose accuracy is analyzed and improved.
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- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Jiwu Wang AU - Shunkai Zheng AU - Fangbo Liao AU - Masanori Sugisaka PY - 2014 DA - 2014/12/15 TI - Robot Pose Measurement Based on Sensor Fusion JO - Journal of Robotics, Networking and Artificial Life SP - 216 EP - 219 VL - 1 IS - 3 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.2014.1.3.10 DO - https://doi.org/10.2991/jrnal.2014.1.3.10 ID - Wang2014 ER -