Abstract
The paper presents the designed algorithm, which is able to integrate of inertial sensor data into control algorithm. Autonomous operation of the mobile system requires reliable measurement of its position. Sources of such data are various; most commonly used is global satellite navigational system. However, this technique can be used only outdoors. For navigation inside building, under metal roof or underground only inertial or contact methods are available. This article analyzes possibilities of deployment of the inertial navigation in the control of the wheeled mobile platform. Experimental platform uses inertial measurement unit x-IMU manufactured by x-IO Technologies. According to our experiments inertial navigation can be reliably used only in fusion with other absolute sensors (odometers, magnetometers).
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Acknowledgment
The contribution is sponsored by VEGA MŠ SR No 1/0367/15 prepared project “Research and development of a new autonomous system for checking a trajectory of a robot”.
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Pirník, R., Hruboš, M., Nemec, D., Mravec, T., Božek, P. (2017). Integration of Inertial Sensor Data into Control of the Mobile Platform. In: Janech, J., Kostolny, J., Gratkowski, T. (eds) Proceedings of the 2015 Federated Conference on Software Development and Object Technologies. SDOT 2015. Advances in Intelligent Systems and Computing, vol 511. Springer, Cham. https://doi.org/10.1007/978-3-319-46535-7_21
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DOI: https://doi.org/10.1007/978-3-319-46535-7_21
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