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A dead reckoning localization system for mobile robots using inertial sensors and wheel revolution encoding

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Abstract

Inertial navigation systems (INS) are composed of inertial sensors, such as accelerometers and gyroscopes. An INS updates its orientation and position automatically; it has an acceptable stability over the short term, however this stability deteriorates over time. Odometry, used to estimate the position of a mobile robot, employs encoders attached to the robot’s wheels. However, errors occur caused by the integrative nature of the rotating speed and the slippage between the wheel and the ground. In this paper, we discuss mobile robot position estimation without using external signals in indoor environments. In order to achieve optimal solutions, a Kalman filter that estimates the orientation and velocity of mobile robots has been designed. The proposed system combines INS and odometry and delivers more accurate position information than standalone odometry.

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Authors and Affiliations

  1. Department of Electronic Engineering, Pusan National University, Kumjeong-Gu, Busan, Korea

    Bong-Su Cho, Woo-sung Moon, Woo-Jin Seo & Kwang-Ryul Baek

Authors
  1. Bong-Su Cho
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  2. Woo-sung Moon
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  3. Woo-Jin Seo
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  4. Kwang-Ryul Baek
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Corresponding author

Correspondence to Kwang-Ryul Baek.

Additional information

This paper was recommended for publication in revised form by Editor Keum Shik Hong

Bong-Su Cho received a B.S. degree in 2004, a M.S. degree in 2006, and is currently working toward a Ph.D degree at the school of Electrical Engineering, Pusan National University, Korea. His research interests include nonlinear control, adaptive control, robotics system, positioning system and system identification.

Woo-sung Moon received a B.S. degree in 2007, a M.S. degree in 2009, and is currently working toward a Ph.D degree at the school of Electrical Engineering, Pusan National University, Korea. His research interests include nonlinear control, adaptive control, robotics system and collective intelligent systems.

Woo-Jin Seo received a B.S. degree in 2008, and is currently working toward a M.S. degree at the school of Electrical Engineering, Pusan National University, Korea. His research interests include signal processing, robotics system, adaptive control, artificial intelligent and localization.

Kwang-Ryul Baek received a B.S. degree in Electrical and Mechanical Engineering from Pusan National University, Korea, in 1984. He received M.S and Ph.D degrees from KAIST, Korea. He joined Turbotech Company as the head of development from 1989 to 1994. Now, he is a professor at Pusan National University, Korea. His research interests include digital signal processing, control systems, and high-speed circuit systems.

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Cho, BS., Moon, Ws., Seo, WJ. et al. A dead reckoning localization system for mobile robots using inertial sensors and wheel revolution encoding. J Mech Sci Technol 25, 2907–2917 (2011). https://doi.org/10.1007/s12206-011-0805-1

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  • DOI: https://doi.org/10.1007/s12206-011-0805-1

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