The accumulated error and noise sensitivity are the two common problems of ordinary inertial sensors. An accurate gyroscope is too expensive, which is not normally applicable in low-cost missions of mobile robots. Since the accelerometers are rather cheaper than similar types of gyroscopes, using redundant accelerometers could be considered as an alternative. This mechanism is called gyroscope-free navigation. The article deals with autonomous mobile robot (AMR) navigation based on gyroscope-free method. In this research, the navigation errors of the gyroscope-free method in long-time missions are demonstrated. To compensate the position error, the aid information of low-cost stereo cameras and a topological map of the workspace are employed in the navigation system. After precise sensor calibration, an amendment algorithm is presented to fuse the measurement of gyroscope-free inertial measurement unit (GFIMU) and stereo camera observations. The advantages and comparisons of vision aid navigation and gyroscope-free navigation of mobile robots will be also discussed. The experimental results show the increasing accuracy in vision-aid navigation of mobile robot.
The Correcting Approach of Gyroscope-Free Inertial Navigation Based on the Applicable Topological Map
Manuscript received January 9, 2017; final manuscript received November 3, 2018; published online February 4, 2019. Assoc. Editor: Monica Bordegoni.
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Dehghani, M., Kharrati, H., Seyedarabi, H., and Baradarannia, M. (February 4, 2019). "The Correcting Approach of Gyroscope-Free Inertial Navigation Based on the Applicable Topological Map." ASME. J. Comput. Inf. Sci. Eng. June 2019; 19(2): 021001. https://doi.org/10.1115/1.4041969
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