Position estimation of a mobile robot using optical fiber gyroscope (OFG)

Komoriya, Kiyoshi; Oyama, Eimei

doi:10.1109/iros.1994.407398

Cited by 87 publications

(32 citation statements)

References 8 publications

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“…• Method 1 : Odometry only -using s, and sr The first two methods are the conventional ones [3], and, for the remaining methods, we perform real-time gyroscope identification according to the availability of the front wheel information. Since it is impossible to use disturbance condition in Method 4 where no front wheel information is used, we cannot extract precise information from the odometry.…”

Section: Comparison Of Dead -Reckoning Methodsmentioning

confidence: 99%

“…Basically, the output of gyroscope is a voltage signal , so we must know the bias voltage and scaling factor which converts voltage to angular velocity. Up to now, most of researches focus on the identification of bias voltage which varies as time goes [1,3]. However, the scaling factor which will be defined in the next section can cause inaccurate angular velocity when a mobile robot is turning.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Position Estimation of a Car-Like Mobile Robot Using a Gyroscope and Disturbance Conditions

Kim¹,

Chung²,

Youm³

et al. 1999

Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction

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In this paper, we propose an improved dead-reckoning method for estimating current position and orientation of the mobile robot using wheel-rotation sensors and a gyroscope. Up to now, pre-identified model is usually used to get more accurate posture from the gyroscope. However, this model can lose its accuracy during the operation including temperature change. To overcome this limitation, a real-time identification method based on disturbance condition is proposed so that the gyroscope information can keep its accuracy. The disturbance condition can determine whether there are lateral or longitudinal disturbances or not. Experimental results are presented, which show the effectiveness of our method in contrast with conventional ones.

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Section: Comparison Of Dead -Reckoning Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Position Estimation of a Car-Like Mobile Robot Using a Gyroscope and Disturbance Conditions

Kim¹,

Chung²,

Youm³

et al. 1999

Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction

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“…As for the slide rail, it is designed to guarantee the metrical accuracy by making Swedish wheel have stable contact with floor while moving at high speed or moving on uneven surface. [10,13]. However, the method above always require complex algorithm to fuse information from different sensors, which is time consuming.…”

Section: Structure Of the Positioning Subsystemmentioning

confidence: 99%

A Novel Positioning Method Based on Swedish Wheel and Gyroscope for Mobile Robot

Chen¹,

Wang²,

Su³

et al. 2015

Proceedings of the 2015 International Conference on Electrical, Computer Engineering and Electronics

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Abstract. In this paper a general positioning subsystem that used for several kinds of mobile robot is presented. The subsystem consist of a Optical Fiber Gyroscope(OFG) with high precision and a Orthogonal Passive Wheel System(OPWS) which is combination of Swedish Wheels and Optical Encoders. The OPWS is an independent planar odometer which is regarded as the local reference of the kinematic model, while the OFG provides the instant angle between global and local reference frame of the robot. A dead recking model is developed regardless of the specific robot base structure. The error sources of the proposed positioning method is analyzed in allusion to an omnidirectional robot configuration. Calibration method based on geometric trajectory tracking is introduced according to the error sources, followed by the experimental results that confirm both feasibility of the positioning method and effectiveness of the calibration method.

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“…비시스템적 오차와 관련해서는 Borenstein [14] 과 Komoriya [15] 와 같이 오도메트리와 자이로 센서를 함께 사용함으로써 비시스템적 오차에 대응하고 위치인식의 불확실성을 감소 시키는 방법이 제안되기도 하였다. Chong [16] 은 로봇의 주행 이전의 연구에서는 이륜차동구동형로봇에 대해 오차원 인간의 복합효과를 고려한 정밀한 오도메트리 보정기법 [17] 을 제안하고 적절한 주행시험경로 설계를 통한 보정성능 향상 [18] 을 보였다.…”

Section: 오도메트리의 오차 원인은 크게 시스템적 오차와 비시unclassified

Design of Experimental Test Tracks for Odometry Calibration of Wheeled Mobile Robots

Jung¹,

Moon²,

Jung³

et al. 2014

The Journal of Korea Robotics Society

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Odometry using wheel encoder is a common relative positioning technique for wheeled mobile robots. The major drawback of odometry is that the kinematic modeling errors are accumulated when the travel distance increases. Therefore, accurate calibration of odometry is required. In several related works, various schemes for odometry calibration are proposed. However, design guidelines of test tracks for odometry calibration were not considered. More accurate odometry calibration results can be achieved by using appropriate test track because the position and orientation errors after the test are affected by the test track. In this paper, we propose the design guidelines of test tracks for odometry calibration schemes using experimental heading errors. Numerical simulations and experiments clearly demonstrate that the proposed design guidelines result in more accurate calibration results.

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Position estimation of a mobile robot using optical fiber gyroscope (OFG)

Cited by 87 publications

References 8 publications

Position Estimation of a Car-Like Mobile Robot Using a Gyroscope and Disturbance Conditions

Position Estimation of a Car-Like Mobile Robot Using a Gyroscope and Disturbance Conditions

A Novel Positioning Method Based on Swedish Wheel and Gyroscope for Mobile Robot

Design of Experimental Test Tracks for Odometry Calibration of Wheeled Mobile Robots

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