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Multisensor 3D Posture Determination of a Mobile Robot Using Inertial and Ultrasonic Sensors

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Abstract

This paper presents methodologies and techniques for fusing inertial and ultrasonic sensors to estimate the current posture of a mobile robot navigating over indoor uneven terrain. This new type of pose tracking system is developed by means of fusing an inertial navigation subsystem (INS) and an ultrasonic localization subsystem. Extended Kalman filtering (EKF)-based algorithm for integrating both the subsystems is proposed to obtain reliable attitude and position estimates of the vehicle and to eliminate the accumulation errors caused by wheel slippage and surface roughness. Experimental results are conducted to illustrate feasibility and effectiveness of the proposed system and method.

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Authors and Affiliations

  1. Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, 40227, Republic of China

    Ching-Chih Tsai, Hung-Hsing Lin & Szu-Wei Lai

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  1. Ching-Chih Tsai
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  2. Hung-Hsing Lin
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  3. Szu-Wei Lai
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Correspondence to Ching-Chih Tsai.

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Tsai, CC., Lin, HH. & Lai, SW. Multisensor 3D Posture Determination of a Mobile Robot Using Inertial and Ultrasonic Sensors. J Intell Robot Syst 42, 317–335 (2005). https://doi.org/10.1007/s10846-005-3894-1

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  • DOI: https://doi.org/10.1007/s10846-005-3894-1

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