Titre :
|
Inertial navigation systems for mobile robots
|
Titre original:
|
Systèmes de navigation par inertie pour robots mobiles
|
Auteurs :
|
B. Barshan ;
H. Durrant-whyte
|
Type de document :
|
article/chapitre/communication
|
Année de publication :
|
1995
|
Format :
|
p.328-341
|
Langues:
|
= Anglais
|
Catégories :
|
ELECTRONIQUE AUTOMATIQUE
|
Mots-clés:
|
GUIDAGE
;
ROBOTIQUE MOBILE
;
CAPTEUR
;
PERFORMANCE
|
Résumé :
|
A low-cost solid-state inertial navigation system for mobile robotics applications is described. Error models for the inertial sensors are generated and included in an Extended Kalman filter for estimating the position and orientation of a moving robot vehicle. Two different solid-state gyroscopes have been evaluated for estimating the orientation of the robot. Performance of the gyroscopes with error models is compared to the performance when the errors models are excluded from the system.
|
Source :
|
IEEE Transactions on robotics and automation, vol 11, n°3
|