Authors
Jiwu Wang, Shunkai Zheng, Fangbo Liao, Masanori Sugisaka
Corresponding Author
Jiwu Wang
Available Online 15 December 2014.
DOI
https://doi.org/10.2991/jrnal.2014.1.3.10How to use a DOI?
Keywords
sensor fusion; DCM; EKF filtering
Abstract
In the motion control research of mobile robot, the mobile robot pose is obtained by derivation of the Kinematic model of the robot. Generally, the motion model relies simply on the data from encoder feedback. Due to cumulative error, the robot pose accuracy is relatively poor by mileage positioning with encoder. Here a new method is put forward based on data fusion of gyro sensor with the encoder data, and the robot pose accuracy is analyzed and improved.

Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).