Analysis of improvement to two-wheel robot navigation using low-cost GPS/INS aids

Benjamin J. Clark, David M. Bevly, Shane Farritor

Research output: Contribution to conferencePaper

1 Scopus citations

Abstract

This paper shows the use of sensor fusion (GPS/INS/odometry) to estimate and climinate errors which are unobservable for a two-wheeled robot using odometry information alone, including the accuracy benefit that combinations of these sensors provide. The combinations examined are GPS/odometry and INS/odometry, both of which are low-cost options. It is shown that the effects of longitudinal wheel slip and tire radius error can be lumped together as an 'effective radius' and estimated effectively using GPS velocity and course measurements. This estimated radius can account for these error modes at the speed at which it was estimated but the estimation effectiveness degrades as speed changes. This paper shows the improvement to the navigation of a two-wheel robot platform using this estimation method.

Original languageEnglish (US)
Pages1440-1448
Number of pages9
StatePublished - Dec 1 2006
EventInstitute of Navigation - 19th International Technical Meeting of the Satellite Division, ION GNSS 2006 - Fort Worth, TX, United States
Duration: Sep 26 2006Sep 29 2006

Conference

ConferenceInstitute of Navigation - 19th International Technical Meeting of the Satellite Division, ION GNSS 2006
CountryUnited States
CityFort Worth, TX
Period9/26/069/29/06

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Software

Fingerprint Dive into the research topics of 'Analysis of improvement to two-wheel robot navigation using low-cost GPS/INS aids'. Together they form a unique fingerprint.

  • Cite this

    Clark, B. J., Bevly, D. M., & Farritor, S. (2006). Analysis of improvement to two-wheel robot navigation using low-cost GPS/INS aids. 1440-1448. Paper presented at Institute of Navigation - 19th International Technical Meeting of the Satellite Division, ION GNSS 2006, Fort Worth, TX, United States.