By Topic

Feedforward global/inertial sensor fusion algorithm for accurate global positioning of a mobile robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Kyoobin Lee ; Korea Adv. Inst. of Sci. & Technol., Seoul ; Jaeheung Park ; O. Khatib ; Dong-Soo Kwon

This paper introduces a coordinate transform method for global/inertial sensor fusion minimizing modification of an existing control program of a mobile robot Most of GPS/INS sensor fusion algorithms use Kalman filters and modify the INS states by feedback loops. Because the structure of the proposed method has a feedforward filter, the proposed method has an advantage in case the user does not want to change an existing control program of mobile robot. The feedback type Kalman filter is designed so that the error between global position from GPS and odometry from INS converges to zero. Therefore the coordinate matching between the odometry and measured global position is not necessary in those approaches. However, in the feedforward structure described in this paper, the errors gradually increase over time. A coordinate transform method has been developed for dealing with the error. This method provides an easy way to make an add-on function without any changes in the existing functions of the control program of a mobile robot

Published in:

Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

Date of Conference:

24-28 July 2005