Experimental Evaluation of a Fiber Optics Gyroscope for Improving Dead-Reckoning Accuracy in Mobile Robots
نویسنده
چکیده
This paper presents results from the experimental evaluation of a state-of-the-art fiber-optics gyroscope. The purpose of our experiments was to evaluate the suitability of this gyroscope for enhancing dead-reckoning in mobile robots. The evaluated gyroscope was the “Autogyro Navigator” made by Andrews. For a 4×4 m square path the dead-reckoning error when using this gyro was less than ±1.2° in orientation and about 10 cm (4 in) in position.
منابع مشابه
Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope
This paper describes two methods aimed at improving dead-reckoning accuracy with fiber optic gyroscopes (FOGs) in mobile robots. The first method is a precision calibration procedure for FOGs, which effectively reduces the ill-effects of non-linearity of the scale-factor and temperature dependency. The second method is the implementation of an indirect feedback Kalman filter that fuses the sens...
متن کاملPrecision-Calibration of Fiber-Optics Gyroscopes for Mobile Robot Navigation
Fiber-optics gyroscopes (“gyros”) are gaining importance as a means for improving dead-reckoning accuracy in mobile robots. In the past, the relatively high drift rate of moderately priced gyros presented the foremost technical limitation of these devices. More recently, fiber-optics gyros with very low drift rates have become available and affordable. Because of their low drift rate attention ...
متن کاملA New Approach to Self-Localization for Mobile Robots Using Sensor Data Fusion
This paper proposes a new approach for calibration of dead reckoning process. Using the well-known UMBmark (University of Michigan Benchmark) is not sufficient for a desirable calibration of dead reckoning. Besides, existing calibration methods usually require explicit measurement of actual motion of the robot. Some recent methods use the smart encoder trailer or long range finder sensors such ...
متن کاملPosition Determination Using Landmark Localization for a Mobile Robot
An artificial landmark-based, automatic navigation system was developed for a small-scale field robot. Several low-cost sensing techniques were involved in the system to detect surroundings and determine the position of the moving robot. Several tests were conducted to evaluate the accuracy of linear distance and angular displacement using dead-reckoning with a gyro-correction, overall performa...
متن کاملSensor Fusion for Mobile Robot Dead-reckoning with a Precision-calibrated Fiber Optic Gyroscope
Recently, fiber optic gyros with very low drift rates have become available and affordable. Because of their low drift rate attention is warranted to sources of errors that were previously considered as of secondary importance. In the KVH E-Core RD2100 gyros, we found that the temperature dependency and the non-linearity of the scale-factor caused significant errors. A precision calibration pro...
متن کامل