Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope.

Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope.

This paper describes two methods aimed at improving dead-reckoning accuracy with fiber-optic gyroscopes (FOGs) in mobile robots. The first method is a precision calibration procedure for FOGs, which effectively reduces the ill effects of nonlinearity of the scale-factor and temperature dependency. T...

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Bibliographic Details
Published in:IEEE Transactions on robotics and automation 17, 1 (2001).
Main Author: Hakyoung Chung
Format: Article
Language:English
Subjects:
Kalman filter.
Calibration.
Dead-reckoning.
Feedback.
Fiber-optic gyroscope.
Mobile robot.
Odometry.
Position control.
Scale-factor.
Temperature dependency.