A Novel Attitude and Heading Reference System Algorithm with Momentum Correction Factor for Mobile Robotics

In this paper, a novel Attitude and Heading Reference System(AHRS) algorithm for real time controlling of various mobile robots is presented. Such a control system is essential for real time mobile robots control applications, such as entertainment, business activities, industrial, domestic assistant and etc. New angles and vectors definition, system specification and Momentum Correction Factor(MCF) are proposed to compensate the motion time delay during an inertial action. A dedicated experimental setup is established to test the algorithm. Experimental results show that the proposed algorithm is able to maintain an accurate and delay-free motion control.