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Attitude Estimation And Compensation In Odometric Localization of Mobile Robot Using Low Cost IMU
Jharna Majumdar, Sandeep Kumar Malu, Min Raj Nepali
Pages - 1 - 14 | Revised - 10-08-2014 | Published - 15-09-2014
MORE INFORMATION
KEYWORDS
Direction Cosine Matrix, Complementary Filter, Inertial Navigation System, Odometric Localization.
ABSTRACT
The paper introduces the attitude estimation and compensation in odometric localization of a differential drive indoor mobile robot. A mobile robot navigates through an inclined indoor environment, wherein localization using only wheel encoder is erroneous. The robot uses inertial sensors such as gyroscope, accelerometer and magnetometer to calculate its attitude and acquires a three degree of rotational data. It is observed that the attitude update using gyroscopes alone are prone to diverge and hence error needs to be eliminated. The advantage of MEMS sensors is less-cost while complementary filter algorithm is low complexity in implementation.
The performance of the proposed complementary filter algorithm for attitude estimation and compensation in odometric localization are shown by experiment and analysis of results.
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Professor Jharna Majumdar
Dean R&D, Prof and Head, Department of CSE (PG) Nitte Meenakshi Institute of Technology Bangalore, 560064, India - India
Mr. Sandeep Kumar Malu
Research Associate, Centre for Robotics Research (R&D) Nitte Meenakshi Institute of Technology Bangalore, 560064, India - India
sandeepmalu77@gmail.com
Mr. Min Raj Nepali
Research Associate, Centre for Robotics Research (R&D) Nitte Meenakshi Institute of Technology Bangalore, 560064, India - India
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