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

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

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

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

Mechanical & Materials Engineering

Research output: Contribution to conference › Paper › peer-review

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 language	English (US)
Pages	1440-1448
Number of pages	9
State	Published - 2006
Event	Institute of Navigation - 19th International Technical Meeting of the Satellite Division, ION GNSS 2006 - Fort Worth, TX, United States Duration: Sep 26 2006 → Sep 29 2006

Conference

Conference	Institute of Navigation - 19th International Technical Meeting of the Satellite Division, ION GNSS 2006
Country/Territory	United States
City	Fort Worth, TX
Period	9/26/06 → 9/29/06

ASJC Scopus subject areas

Electrical and Electronic Engineering
Computer Science Applications
Software

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

Research output: Contribution to conference › Paper › peer-review

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AB - 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.

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M3 - Paper

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

Abstract

Conference

ASJC Scopus subject areas

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