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Research on the Calibration Method for the Heading Errors of Mobile Robot Based on Evolutionary Neural Network Prediction

  • Jinxia Yu
  • Zixing Cai
  • Xiaobing Zou
  • Zhuohua Duan
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3498)

Abstract

Fiber optic gyros (FOG) is the important sensor for measuring the heading of mobile robot. Combined with measured data of E-Core RD1100 interferometric FOG made by American KVH company, the paper analyses the common calibration for the heading errors of mobile robot caused by the drift of FOG, and uses the method of evolutionary neural networks prediction to compensate it. By the experiments of mobile robot prototype, the paper also proves this method can reduce the error influence of FOG on the heading of mobile robot and enhance the localization precision of mobile robot navigation.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Jinxia Yu
    • 1
    • 2
  • Zixing Cai
    • 1
  • Xiaobing Zou
    • 1
  • Zhuohua Duan
    • 1
    • 3
  1. 1.College of Information Science and EngineeringCentral South UniversityChangshaChina
  2. 2.Department of Computer Science & TechnologyHenan Polytechnic UniversityJiaozuoChina
  3. 3.Department of Computer ScienceShaoguan UniversityShaoguanChina

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