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http://dx.doi.org/10.5302/J.ICROS.2016.16.0007

Improved Yaw-angle Estimation Filter as a Function of the Actual Maneuvers for a Cleaning Robot  

Cho, Yoon Hee (Dept. of Aerospace Engineering, Sejong University)
Lee, Sang Cheol (IST Works Inc.)
Hong, Sung Kyung (Dept. of Aerospace Engineering, Sejong University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.6, 2016 , pp. 470-476 More about this Journal
Abstract
This paper proposes a practical algorithm for the reduction of measurement errors due to drift in a micro-electromechanical system (MEMS) gyros that are used for a mobile robot. Any drift in a MEMS gyro will cause an unbounded growth of errors in the estimation of heading, which makes it nearly useless in applications that require high accuracy over a long operating time. In proposed method, maneuvers of a cleaning robot are observed through encoders' measurement process and a decision to correct bias drift will be made if necessary. The method used in this paper is called the "heading estimation filter". To evaluate the accuracy of the proposed method, a comparison was made between the estimation of the heading of the cleaning robot and one from a motion capture system.
Keywords
heading angle estimation; MEMS gyro; Indoor mobile robot; Bias drift;
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Times Cited By KSCI : 4  (Citation Analysis)
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