Posture estimation of a car-like mobile robot using disturbance conditions

摘要

In this paper, we propose an improved dead-reckoning method for estimating the current position and orientation of a mobile robot using wheel-rotation sensors and a gyroscope. Up to now, a pre-identified model has usually been used to get accurate posture from the gyroscope. However, this model can lose its accuracy during the operation (e.g. due to temperature change). To overcome this limitation, a real-time identification method based on the disturbance condition is proposed so that the gyroscope information can keep its accuracy. The disturbance condition can determine whether there are lateral or longitudinal disturbances or not. Experimental results are presented, which show the effectiveness of our method in contrast with conventional ones.