A dead reckoning sensor system and a tracking algorithm for mobile robots

Dongjun Hyun, Hyun Seok Yang, Gyung Hwan Yuk, Heuk Sung Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

We have developed a dead reckoning sensor system and a tracking algorithm for mobile robots to estimate the path when a mobile robot explores an unknown, enclosed region where GPS access or landmarks are unavailable. A dead reckoning sensor system consists of a low-cost MEMS IMU and a navigation sensor (used in laser mice), which provide complementary functions. The IMU has benefits such as compact size, a self-contained system, and an extremely low failure rate but has a bias drift problem, which can accumulate substantial error over time. A navigation sensor measures the motion of a mobile robot directly without the slip error in the case of a wheel-type odometer, but it often fails to read a surface. A tracking algorithm consists of an extended Kalman filter (EKF) to fuse data from the IMU and the navigation sensor and a least-squares method to estimate acceleration bias in the EKF. We obtained experimental data by driving a radio-controlled car equipped with the sensor system in a 3D pipeline and compared the path estimated by the tracking algorithm with the path of the pipeline. The tracking algorithm combined data from the IMU and the navigation sensor and correctly estimated the path of the radio-controlled car. Our study can be applied to estimate position or path of mobile robots without external aids such as GPS, landmarks, and beacons.

Original languageEnglish
Title of host publicationIEEE 2009 International Conference on Mechatronics, ICM 2009
DOIs
Publication statusPublished - 2009 Jul 17
EventIEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain
Duration: 2009 Apr 142009 Apr 17

Publication series

NameIEEE 2009 International Conference on Mechatronics, ICM 2009

Other

OtherIEEE 2009 International Conference on Mechatronics, ICM 2009
CountrySpain
CityMalaga
Period09/4/1409/4/17

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All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Hyun, D., Yang, H. S., Yuk, G. H., & Park, H. S. (2009). A dead reckoning sensor system and a tracking algorithm for mobile robots. In IEEE 2009 International Conference on Mechatronics, ICM 2009 [4957155] (IEEE 2009 International Conference on Mechatronics, ICM 2009). https://doi.org/10.1109/ICMECH.2009.4957155