FLEXnav: A Fuzzy Logic Expert Dead-reckoning System for the Segway RMP

Most mobile robots use a combination of absolute and relative sensing techniques for position estimation. Relative positioning techniques are generally known as dead-reckoning. Many systems use odometry as their only deadreckoning means. However, in recent years fiber optic gyroscopes have become more affordable and are being used on many platforms to supplement odometry, especially in indoor applications. Still, if the terrain is not level (i.e., rugged or rolling terrain), the tilt of the vehicle introduces errors into the conversion of gyro readings to vehicle heading. In order to overcome this problem vehicle tilt must be measured and factored into the heading computation.