Global Journal of Researches in Engineering
نویسندگان
چکیده
In this paper, absolute positioning instrument using trilateration ultrasonic sensor is mainly proposed to estimate absolute position errors combined with estimated position and orientation from differential odometry integrated with gyroscope to calculate absolute position of mobile robot. In the method, the indirect Kalman filter is mainly used to estimate absolute position errors and the estimated errors are fed back to odometry system, and also estimates some parameter errors to correct encoder and gyroscope error. The simulation and experiment results show the estimated position and orientation of odometry system integrated with gyroscope, systematic errors of encoder and gyroscope and absolute position from trilateration ultrasonic sensor compared with odometry system integrated with gyroscope. Keywordsabsolute positioning, indirect Kalman filter, odometry system, trilateration ultrasonic sensor.
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