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Author Vaganay, J. ♦ Aldon, M.J. ♦ Fournier, A.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1993
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Mobile robots ♦ Robot sensing systems ♦ Accelerometers ♦ Gravity ♦ Navigation ♦ Acceleration ♦ Angular velocity ♦ Velocity measurement ♦ Remotely operated vehicles ♦ Land vehicles
Abstract An attitude estimation system based on inertial measurements for a mobile robot is described. Five low-cost inertial sensors are used: two accelerometers and three gyros. The robot's attitude, represented by its roll and pitch angles, can be obtained using two different methods. The first method is based on accelerometric measurements of gravity. The second one proceeds by integration of the differential equation relating the robot's attitude and its instantaneous angular velocity which is measured by the gyrometers. The results of these two methods are fused, using an extended Kalman filter. Experimental results show that the resulting system is very sensitive and accurate.
Description Author affiliation: Montpellier II Univ., France (Vaganay, J.; Aldon, M.J.; Fournier, A.)
ISBN 0818634502
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1993-05-02
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 473.10 kB
Page Count 6
Starting Page 277
Ending Page 282

Source: IEEE Xplore Digital Library