Relative Localisation of Mobile Robotic Platform Based on Inertial Sensors and Enhanced Odometry

Jakub Glowka, Adam Woloszczuk, Mateusz Kozinski, Mariusz Andrzejczak, Mateusz Macias, Tomasz Rokosz

Abstract:	Robots that are able to provide autonomously services for people requires reliable navigation in outdoor and indoor environment. In the Intelligent Robotic Porter System project demonstrator of such future service was developed. This paper discusses secondary navigation system for robotic platform for IRPS. At the beginning motivation, scope of work and preliminary system are described. In the next paragraph detailed description of implemented odometry positioning system and calibration process that is required are presented. Next section shows and discusses test results. Conclusions from performed tests lead to research of positioning technique that do not need precise calibration. Presented simulations show benefit of using additional orientation information in odometry calculations. Inertial Measurement Unit that consist magnetometer, accelerometers and gyroscopes is used as alternate orientation data source in the system. Results of performed field tests with use of odometry and IMU are presented at the end of the paper. Last paragraph describe current status of work and future development plans.
Published in:	Proceedings of the 2010 International Technical Meeting of The Institute of Navigation January 25 - 27, 2010 Catamaran Resort Hotel San Diego, CA
Pages:	125 - 134
Cite this article:	Glowka, Jakub, Woloszczuk, Adam, Kozinski, Mateusz, Andrzejczak, Mariusz, Macias, Mateusz, Rokosz, Tomasz, "Relative Localisation of Mobile Robotic Platform Based on Inertial Sensors and Enhanced Odometry," Proceedings of the 2010 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2010, pp. 125-134.
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