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Integration of Inertial Sensor Data into Control of the Mobile Platform

  • Rastislav Pirník
  • Marián HrubošEmail author
  • Dušan Nemec
  • Tomáš Mravec
  • Pavol Božek
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 511)

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).

Keywords

Local Coordinate System Mobile Platform Inertial Navigation System Global Coordinate System Forward Speed 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Notes

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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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Rastislav Pirník
    • 1
  • Marián Hruboš
    • 1
    Email author
  • Dušan Nemec
    • 1
  • Tomáš Mravec
    • 1
  • Pavol Božek
    • 2
  1. 1.Faculty of Electrical EngineeringUniversity of ŽilinaŽilinaSlovak Republic
  2. 2.Faculty of Materials Science and Technology, Institute of Applied Informatics, Automation and MechatronicsSlovak University of TechnologyTrnavaSlovak Republic

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