[1]WANG Xiao-yu,YAN Ji-hong,XU Li-hong.Improving estimations of a robot’s position and attitudewith accelerometer enhanced odometry[J].CAAI Transactions on Intelligent Systems,2009,4(2):169-174.
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Improving estimations of a robot’s position and attitudewith accelerometer enhanced odometry

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 4 Number of periods: 2009 2 Page number: 169-174 Column: 学术论文—智能系统 Public date: 2009-04-25
Title:
Improving estimations of a robot’s position and attitudewith accelerometer enhanced odometry
Author(s):
WANG Xiao-yu1; YAN Ji-hong2; XU Li-hong3
1. DFH Satellite Company Ltd., Beijing 100094, China;
2. Robotics Institute, Harbin Institute of Technology, Harbin 150080, China;
3. Number 2 Scientific Research Institute, Number 304 Factory, Changzhi 046012, China
Keywords:
position and attitude estimation; accodometry method;  Gyrodometry method
CLC:
TP242
DOI:
-
Abstract:
Unpredictable events can occur in the navigational processes of twowheeled selfbalancing robots, such as wheelslippage, interaction with obstacles, and bumps. These invalidate position and attitude estimates. Therefore, an improved method was developed for accurate positioning of robots. The accodometry method adds accelerometer data to the improved Gyrodometry method, fusing encoder data with inertial sensor data. This method eliminates the effect of nonsystematic errors on robot position and attitude estimation and reduces illeffects due to inherent drift of the gyro and accelerometer. As a result, positional accuracy is greatly improved. Experimental results showed that positional errors decrease by onethird and orientation errors decline by onesixth, verifying the effectiveness of the accodometry method.
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