Mobile robotic spatial odometry by low-cost IMUs: (Inertial Measurement Unit Sensors)

Xiaolong Zhang; Teemu Mononen; Mohammad M. Aref; Jouni Mattila

doi:10.1109/MESA.2018.8449209

Mobile robotic spatial odometry by low-cost IMUs: (Inertial Measurement Unit Sensors)

Xiaolong Zhang, Teemu Mononen, Mohammad M. Aref, Jouni Mattila

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

2 Citations (Scopus)

Abstract

This paper shows the use of microelectromechanical system (MEMS) low-cost inertial measurement units (IMUs) to realize absolute odometry information for a mobile vehicle or field robotics, by providing the rotation angle of a wheel and its suspensions with respect to gravity. In addition, with the proposed algorithm we calculate the yaw and roll angle information for the bogie by integrating the output of the rotation gyroscope, which decreases the angle drift considerably. A test bed was set up to validate the algorithm, and the results are analyzed in detail.

Original language	English
Title of host publication	14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)
Subtitle of host publication	Oulu, July 2-4, 2018.
Place of Publication	Oulu
Publisher	IEEE
Number of pages	6
ISBN (Electronic)	978-1-5386-4643-4
DOIs	https://doi.org/10.1109/MESA.2018.8449209
Publication status	Published - 30 Aug 2018
Publication type	A4 Article in conference proceedings
Event	IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Duration: 24 Aug 2018 → …

Conference

Conference	IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Period	24/08/18 → …

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@inproceedings{fc753342a1f549bfa29a0a0182a83645,

title = "Mobile robotic spatial odometry by low-cost IMUs: (Inertial Measurement Unit Sensors)",

abstract = "This paper shows the use of microelectromechanical system (MEMS) low-cost inertial measurement units (IMUs) to realize absolute odometry information for a mobile vehicle or field robotics, by providing the rotation angle of a wheel and its suspensions with respect to gravity. In addition, with the proposed algorithm we calculate the yaw and roll angle information for the bogie by integrating the output of the rotation gyroscope, which decreases the angle drift considerably. A test bed was set up to validate the algorithm, and the results are analyzed in detail.",

author = "Xiaolong Zhang and Teemu Mononen and {M. Aref}, Mohammad and Jouni Mattila",

year = "2018",

month = aug,

day = "30",

doi = "10.1109/MESA.2018.8449209",

language = "English",

booktitle = "14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)",

publisher = "IEEE",

address = "United States",

note = "IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications ; Conference date: 24-08-2018",

}

Zhang, X, Mononen, T, M. Aref, M & Mattila, J 2018, Mobile robotic spatial odometry by low-cost IMUs: (Inertial Measurement Unit Sensors). in 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA): Oulu, July 2-4, 2018.., 8449209, IEEE, Oulu, IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, 24/08/18. https://doi.org/10.1109/MESA.2018.8449209

Mobile robotic spatial odometry by low-cost IMUs: (Inertial Measurement Unit Sensors). / Zhang, Xiaolong; Mononen, Teemu; M. Aref, Mohammad et al.
14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA): Oulu, July 2-4, 2018.. Oulu: IEEE, 2018. 8449209.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

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AU - Mattila, Jouni

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N2 - This paper shows the use of microelectromechanical system (MEMS) low-cost inertial measurement units (IMUs) to realize absolute odometry information for a mobile vehicle or field robotics, by providing the rotation angle of a wheel and its suspensions with respect to gravity. In addition, with the proposed algorithm we calculate the yaw and roll angle information for the bogie by integrating the output of the rotation gyroscope, which decreases the angle drift considerably. A test bed was set up to validate the algorithm, and the results are analyzed in detail.

AB - This paper shows the use of microelectromechanical system (MEMS) low-cost inertial measurement units (IMUs) to realize absolute odometry information for a mobile vehicle or field robotics, by providing the rotation angle of a wheel and its suspensions with respect to gravity. In addition, with the proposed algorithm we calculate the yaw and roll angle information for the bogie by integrating the output of the rotation gyroscope, which decreases the angle drift considerably. A test bed was set up to validate the algorithm, and the results are analyzed in detail.

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PB - IEEE

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ER -

Mobile robotic spatial odometry by low-cost IMUs: (Inertial Measurement Unit Sensors)

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