Journal of Robotics, Networking and Artificial Life

Volume 1, Issue 3, December 2014, Pages 216 - 219

Robot Pose Measurement Based on Sensor Fusion

Authors
Jiwu Wang, Shunkai Zheng, Fangbo Liao, Masanori Sugisaka
Corresponding Author
Jiwu Wang
Available Online 15 December 2014.
DOI
https://doi.org/10.2991/jrnal.2014.1.3.10How to use a DOI?
Keywords
sensor fusion; DCM; EKF filtering
Abstract

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.

Copyright
© 2013, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
1 - 3
Pages
216 - 219
Publication Date
2014/12/15
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
https://doi.org/10.2991/jrnal.2014.1.3.10How to use a DOI?
Copyright
© 2013, the Authors. Published by Atlantis Press.
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  -