Authors:
Bernd Gersdorf
and
Udo Freese
Affiliation:
Cyber-Physical Systems and German Research Center for Artificial Intelligence, Germany
Keyword(s):
Extended Kalman Filter (EKF), Odometry, Wheel, Sensor, Inertial Measurement Unit (IMU), MEMS, Gyroscope, Accelerometer, Walker, Wheelchair, Tricycle, Navigation, ASSAM.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Sensors Fusion
;
Signal Processing, Sensors, Systems Modeling and Control
;
Signal Reconstruction
Abstract:
This paper describes an Extended Kalman Filter for a wheel mounted inertial measurement unit using two
accelerometers and a single gyroscope as a substitute for classical odometry sensing. The sensor can be
mounted with minimal effort on existing wheeled vehicles. It is highly robust against vibration while rolling
on uneven terrain and can cope with higher speeds even when the measurement range is partially exceeded.
It has been developed as a component of a GPS based urban navigation assistant for elderly people using
walkers, wheelchairs, or tricycles as an add-on device.