A Novel Positioning Method Based on Swedish Wheel and Gyroscope for Mobile Robot
Donghua Chen, Liquan Wang, Feng Su, Rubin Zhang, Hui Li, Zhiyong Wang, Yulong Cai, Dongliang Chen
Available Online June 2015.
- https://doi.org/10.2991/icecee-15.2015.291How to use a DOI?
- OPWS; Positioning; Positioning Error Calibration; Trajectory Tracking
- In this paper a general positioning subsystem that used for several kinds of mobile robot is presented. The subsystem consist of a Optical Fiber Gyroscope(OFG) with high precision and a Orthogonal Passive Wheel System(OPWS) which is combination of Swedish Wheels and Optical Encoders. The OPWS is an independent planar odometer which is regarded as the local reference of the kinematic model, while the OFG provides the instant angle between global and local reference frame of the robot. A dead recking model is developed regardless of the specific robot base structure. The error sources of the proposed positioning method is analyzed in allusion to an omnidirectional robot configuration. Calibration method based on geometric trajectory tracking is introduced according to the error sources, followed by the experimental results that confirm both feasibility of the positioning method and effectiveness of the calibration method.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Donghua Chen AU - Liquan Wang AU - Feng Su AU - Rubin Zhang AU - Hui Li AU - Zhiyong Wang AU - Yulong Cai AU - Dongliang Chen PY - 2015/06 DA - 2015/06 TI - A Novel Positioning Method Based on Swedish Wheel and Gyroscope for Mobile Robot BT - 2015 2nd International Conference on Electrical, Computer Engineering and Electronics PB - Atlantis Press SN - 2352-538X UR - https://doi.org/10.2991/icecee-15.2015.291 DO - https://doi.org/10.2991/icecee-15.2015.291 ID - Chen2015/06 ER -