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

Tutkimustuotos: Konferenssiartikkeli › Tieteellinen › vertaisarvioitu

2 Sitaatiot (Scopus)

Abstrakti

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.

Alkuperäiskieli	Englanti
Otsikko	14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)
Alaotsikko	Oulu, July 2-4, 2018.
Julkaisupaikka	Oulu
Kustantaja	IEEE
Sivumäärä	6
ISBN (elektroninen)	978-1-5386-4643-4
DOI - pysyväislinkit	https://doi.org/10.1109/MESA.2018.8449209
Tila	Julkaistu - 30 elok. 2018
OKM-julkaisutyyppi	A4 Artikkeli konferenssijulkaisussa
Tapahtuma	IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Kesto: 24 elok. 2018 → …

Conference

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

Julkaisufoorumi-taso

Jufo-taso 1

Pääsy asiakirjaan

10.1109/MESA.2018.8449209

Siteeraa tätä

@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). julkaisussa 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.

Tutkimustuotos: Konferenssiartikkeli › Tieteellinen › vertaisarvioitu

TY - GEN

T1 - Mobile robotic spatial odometry by low-cost IMUs

T2 - IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications

AU - Zhang, Xiaolong

AU - Mononen, Teemu

AU - M. Aref, Mohammad

AU - Mattila, Jouni

PY - 2018/8/30

Y1 - 2018/8/30

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.

U2 - 10.1109/MESA.2018.8449209

DO - 10.1109/MESA.2018.8449209

M3 - Conference contribution

BT - 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)

PB - IEEE

CY - Oulu

Y2 - 24 August 2018

ER -

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

Abstrakti

Conference

Julkaisufoorumi-taso

Pääsy asiakirjaan

Sormenjälki

Siteeraa tätä