Fuzzy Heuristic Reduction of Gyro Drift in Gyro-Based Mobile Robot Tracking

Abstract

This paper proposes a practical algorithm for the reduction of measurement errors due to drift in Micro-ElectroMechanical System (MEMS) gyros which is used for mobile robot. Drift in MEMS gyros will cause the unbounded growth of errors in the estimation of yaw, which makes it nearly useless in applications that require good accuracy for longer time. The method used in this paper is called "Fuzzy Heuristic Drift Reduction" (FHDR). To verify the validity of the algorithm, the paper presents results of experiments, in which a gyro-equipped indoor mobile robot walked for several minutes. FHDR reduced the final heading error over all of these drives by one order of magnitude compared of nonuse.

Augmentation of Enhanced HDR Utilizing Encoder to Estimate Yaw-Angle of Cleaning Robots

“…e-HDR gains further performance enhancement during motion, specifically for the mobile vehicle, compared to the pure HDR , through the addition of an ‘attenuator’. That is, the estimated bias drift ( I i ) can be applied differently depending on the size of ωi−1, thereby enhancing the bias drift's estimation capability [13–17].…”

“…This presented the possibility of implementing low-cost systems using only gyro sensors. In addition, the enhanced HDR (hereafter referred to as an e-HDR ) structure, which adaptively controls the filter gain for updating the gyro drift error more accurately, had been adopted in wheeled vehicles (or mobile robots) [13–17]. However, e-HDR has some shortcomings in certain situations, e.g., 1) when true rates are less than the threshold in the HDR process; 2) when the measured rates are highly contaminated with noise even in the stationary state.…”

“…That is, the estimated bias drift (I i ) can be applied differently depending on the size of ω i−1 , thereby enhancing the bias drift's estimation capability [13][14][15][16][17].…”

A study on the operation of rehabilitation interfaces in active rehabilitation exercises for upper limb hemiplegic patients: Interfaces for lateral and bilateral exercises

“…For improving these errors, a heuristic drift reduction (HDR) filter is used to remove bias values for each sampling time in order to reduce the errors during the merging process of the complementary filter based on the improvement of the errors in the gyro sensor even though the gyro sensor data is highly covered. Figure 6 represents a different description of the HDR filter [29,30]. In the HDR filter, the term of ω true is the ideal gyroscope data that does not include biases.…”

Precision improvement of MEMS gyros for indoor mobile robots with horizontal motion inspired by methods of TRIZ

“…Theoretically, his motion is arbitrary. Actually, for the real robot the motion is smooth [10][11][13][14][15][16][17][18]. To be exact, the motion can described, mainly, into the following types: a.…”