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	A real-time and accurate coordinate positioning model based on gyroscopes and omni-directional driven wheels
	Ke, Guolin ; Shi, Meichen ; Chen, Haishan ; Chen HS(陈海山)
	2014
关键词	Accelerometers Gyroscopes Robots
英文摘要	Conference Name:2014 6th International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2014. Conference Address: Zhangjiajie, Hunan, China. Time:January 10, 2014 - January 11, 2014.; Hongkong Intelligent Computation; Hunan City University; Technology and Automation Association; A novel simple efficient modular coordinate positioning model, based on the study of position estimation for mobile robots, is raised. It uses orthogonal omnidirectional driven wheels to record displacement instead of accelerometers in the inertial positioning, solving the problem that displacement error calculated from the quadratic integral of the accelerometer is too big. It combines with the yaw angle gained from the gyroscope to calculate accurate coordinates. Considering the problem that the model depends on the ground flatness a lot, two optimization methods are brought up, namely Rotation Redundancy Elimination and Uneven Ground Compensation. In this way, the model can has more accuracy. Experimental results show the model is simple and real-time, and does have high positioning accuracy and strong applicability. ? 2014 IEEE.
语种	英语
出处	http://dx.doi.org/10.1109/ICMTMA.2014.18
出版者	IEEE Computer Society
内容类型	其他
源URL	[http://dspace.xmu.edu.cn/handle/2288/85829]
专题	软件学院－会议论文
推荐引用方式 GB/T 7714	Ke, Guolin,Shi, Meichen,Chen, Haishan,et al. A real-time and accurate coordinate positioning model based on gyroscopes and omni-directional driven wheels. 2014-01-01.

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