A Novel Positioning Method Based on Swedish Wheel and Gyroscope for Mobile Robot

DOI

10.2991/icecee-15.2015.291How to use a DOI?

Keywords

OPWS; Positioning; Positioning Error Calibration; Trajectory Tracking

Abstract

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.

Copyright

© 2015, 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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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  - Proceedings of the 2015 International Conference on Electrical, Computer Engineering and Electronics
PB  - Atlantis Press
SP  - 1537
EP  - 1546
SN  - 2352-538X
UR  - https://doi.org/10.2991/icecee-15.2015.291
DO  - 10.2991/icecee-15.2015.291
ID  - Chen2015/06
ER  -