Abstract
In the field of robotics, the most essential requirement for successful navigation is an accurate and numerically inexpensive method for self-localization. This paper presents a method that exploits the principles of directional cosines to setup a rotation matrix to deal with a closed loop PI feedback based model. The system uses a 9 degree of freedom (9DOF) sensor and exploits the benefits of the accuracy of a 3-axis gyroscope by leveraging the measurement of a 3-axis accelerometer and 3-axis magnetometer, which compensates and corrects the accumulative drift generated by integrating the gyroscope velocity measurements. The results show that the method is relatively accurate with a small level of error when compared to vision based glyph recognition and tracking methods for self-localization and is a sustainable method for removing accumulative drift.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the ASME Design Engineering Technical Conference |
| Publisher | American Society of Mechanical Engineers |
| Volume | 4 |
| ISBN (Print) | 9780791855911 |
| DOIs | |
| Publication status | Published - 2013 |
| Event | ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States Duration: 4 Aug 2013 → 7 Aug 2013 |
Conference
| Conference | ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 |
|---|---|
| Country/Territory | United States |
| City | Portland, OR |
| Period | 4/08/2013 → 7/08/2013 |