TY - GEN
T1 - An improved indoor mobile robot positioning method based on Dead Reckoning
AU - Zheng, Wenbin
AU - Zhou, Xinyu
AU - Zhang, Xiaoshuai
AU - Wei, Mingchen
AU - Fu, Ping
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Positioning is one of the key technologies of robot application, and it is a primary problem for robots to achieve autonomy. GPS has become a popular positioning system for outdoor positioning and navigation of mobile robots with its excellent performance, but there is no universal indoor positioning system. Dead reckoning is a widely used indoor positioning method, but when the wheel and the ground slip, there is a large positioning error. This paper improves the way the encoder is installed, and it is installed on the wheel that does not provide the driving force. According to the improved installation method, the mathematical model of the positioning system is established through kinematic analysis, analyze the source of the error and design a calibration method to improve positioning accuracy. Experiments have shown that compared to the traditional encoder installation method, the improved installation method can significantly reduce the random error caused by wheel slip, and can reduce the average error by three times and the variance of twice.
AB - Positioning is one of the key technologies of robot application, and it is a primary problem for robots to achieve autonomy. GPS has become a popular positioning system for outdoor positioning and navigation of mobile robots with its excellent performance, but there is no universal indoor positioning system. Dead reckoning is a widely used indoor positioning method, but when the wheel and the ground slip, there is a large positioning error. This paper improves the way the encoder is installed, and it is installed on the wheel that does not provide the driving force. According to the improved installation method, the mathematical model of the positioning system is established through kinematic analysis, analyze the source of the error and design a calibration method to improve positioning accuracy. Experiments have shown that compared to the traditional encoder installation method, the improved installation method can significantly reduce the random error caused by wheel slip, and can reduce the average error by three times and the variance of twice.
KW - Dead reckoning
KW - Encoder
KW - Mobile robot
KW - Positioning
UR - https://www.scopus.com/pages/publications/85150463322
U2 - 10.1109/ICSMD57530.2022.10058446
DO - 10.1109/ICSMD57530.2022.10058446
M3 - 会议稿件
AN - SCOPUS:85150463322
T3 - 2022 International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2022 - Proceedings
BT - 2022 International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2022 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2022
Y2 - 22 December 2022 through 24 December 2022
ER -