Improved Inertial/Odometry/GPS Positioning of Wheeled Robots Even in GPS-Denied Environments

North, Eric; Georgy, Jacques; Iqbal, Umar; Tarbochi, Mohammed; Noureldin, Aboelmagd

doi:10.5772/38824

Cited by 8 publications

(6 citation statements)

References 13 publications

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“…In the literature [ 21 , 22 ], different configurations are proposed to integrate odometer and INS data. In our work, we have chosen the RISS configuration (reduced inertial sensor system) ( Figure 12 ).…”

Section: Evaluation Of the Usual Methods Of Ptw Trajectory Reconstmentioning

confidence: 99%

A Practical Approach for High Precision Reconstruction of a Motorcycle Trajectory Using a Low-Cost Multi-Sensor System

Smaiah

Sadoun

Elouardi

et al. 2018

Sensors

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Motorcycle drivers are considered among the most vulnerable road users, as attested by the number of crashes increasing every year. The significant part of the fatalities relates to “single vehicle” loss of control in bends. During this investigation, a system based on an instrumented multi-sensor platform and an algorithmic study was developed to accurately reconstruct motorcycle trajectories achieved when negotiating bends. This system is used by the French Gendarmerie in order to objectively evaluate and to examine the way riders take their bends in order to better train riders to adopt a safe trajectory and to improve road safety. Data required for the reconstruction are acquired using a motorcycle that has been fully instrumented (in VIROLO++ Project) with several redundant sensors (reference sensors and low-cost sensors) which measure the rider actions (roll, steering) and the motorcycle behavior (position, velocity, acceleration, odometry, heading, and attitude). The proposed solution allowed the reconstruction of motorcycle trajectories in bends with a high accuracy (equal to that of fixed point positioning). The developed algorithm will be used by the French Gendarmerie in order to objectively evaluate and examine the way riders negotiate bends. It will also be used for initial training and retraining in order to better train riders to learn and estimate a safe trajectory and to increase the safety, efficiency and comfort of motorcycle riders.

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Section: Evaluation Of the Usual Methods Of Ptw Trajectory Reconstmentioning

confidence: 99%

A Practical Approach for High Precision Reconstruction of a Motorcycle Trajectory Using a Low-Cost Multi-Sensor System

Smaiah

Sadoun

Elouardi

et al. 2018

Sensors

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“…INS are self-contained which means they operate using only gravity as an external reference. However, as measurements are successively integrated over time, large amounts of error accumulate and need to be reconciled [72,73].…”

Section: Dead Reckoningmentioning

confidence: 99%

“…Inertial navigation systems (INS) – Inertial navigaiton systems utilise IMUs and gyroscopes. The IMU provides 3‐D translational and rotational information, relative to a known measurement [72], which updates over time. INS are self‐contained which means they operate using only gravity as an external reference.…”

Section: Gps‐denied Navigation and Localisationmentioning

confidence: 99%

Survey of unmanned subterranean exploration, navigation, and localisation

Martz

Al-Sabban

Smith

2020

IET cyber-systems robotics

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Subsurface networks include mining tunnels, caves, and the urban underground. Each of these environments presents a complex setting with significant challenges in exploration, exploitation, etc. Multiple hazards exist, including environmental and structural, and conditions degrade and change temporally. We present a survey of research in autonomy, networking and mobility focused on exploring and/or mapping subsurface networks in unpredictable and unexplored environments. The focus is on mining tunnels as a proxy subterranean environment; motivated by the proximity of the authors to the Bonita Peak Mining District; a Superfund site consisting of 48 historic mines which have contaminated soil, groundwater and surface water with heavy metals as a result of historic practices. The exploration and assessment of the mining tunnels for remediation efforts presents an extremely challenging problem in subterranean navigation. Arguably, the environment in question is the most extreme and challenging subterranean environment. Unmanned assets must enter to explore and re‐map the tunnels to assess safety for subsequent entrance by robots and/or humans for proper remediation. The survey is split into three categories — Locomotion, GPS‐denied navigation and localization, and Communication. It is concluded with a proposed design for a platform that addresses the difficulties of exploring an abandoned mine

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“…[1] [3]. By which localization of robot can be estimated using earth"s coordinates in terms of X, Y, Z and the obtained data is fed to low pass IIR design.…”

Section: Implementation Designmentioning

confidence: 99%