Rule based filtering and fusion of odometry and gyroscope for a fail safe dead reckoning system of a mobile robot

Shoichi Maeyama, Nobuyuki Ishikawa, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Citations (Scopus)

Abstract

For mobile robot behavior such as navigation and map building, the estimation of own position is very important. Odometry is often utilized for the position estimation by accumulating the amount of wheel rotations. In outdoor environment, the estimated position by odometry has not only the cumulative error but also occasional error by traveling over a small obstacle or a bump under the wheel. In this paper, we propose accurate and robust dead reckoning system by fusion and filtering with odometry and gyroscope. The proposed dead reckoning algorithm can reduce the ill-effect of road surface, estimate the bias drift of gyroscope and warn a failure of sensor. It would work very well in outdoor as well as indoor environment.

Original languageEnglish
Title of host publicationIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Editors Anon
Place of PublicationPiscataway, NJ, United States
PublisherIEEE
Pages541-548
Number of pages8
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems - Washington, DC, USA
Duration: 1996 Dec 81996 Dec 11

Other

OtherProceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems
CityWashington, DC, USA
Period96/12/896/12/11

Fingerprint

Gyroscopes
Mobile robots
Wheels
Fusion reactions
Navigation
Sensors

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Maeyama, S., Ishikawa, N., & Yuta, S. (1996). Rule based filtering and fusion of odometry and gyroscope for a fail safe dead reckoning system of a mobile robot. In Anon (Ed.), IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (pp. 541-548). Piscataway, NJ, United States: IEEE.

Rule based filtering and fusion of odometry and gyroscope for a fail safe dead reckoning system of a mobile robot. / Maeyama, Shoichi; Ishikawa, Nobuyuki; Yuta, Shinichi.

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. ed. / Anon. Piscataway, NJ, United States : IEEE, 1996. p. 541-548.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Maeyama, S, Ishikawa, N & Yuta, S 1996, Rule based filtering and fusion of odometry and gyroscope for a fail safe dead reckoning system of a mobile robot. in Anon (ed.), IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. IEEE, Piscataway, NJ, United States, pp. 541-548, Proceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, Washington, DC, USA, 96/12/8.
Maeyama S, Ishikawa N, Yuta S. Rule based filtering and fusion of odometry and gyroscope for a fail safe dead reckoning system of a mobile robot. In Anon, editor, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Piscataway, NJ, United States: IEEE. 1996. p. 541-548
Maeyama, Shoichi ; Ishikawa, Nobuyuki ; Yuta, Shinichi. / Rule based filtering and fusion of odometry and gyroscope for a fail safe dead reckoning system of a mobile robot. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. editor / Anon. Piscataway, NJ, United States : IEEE, 1996. pp. 541-548
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