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research-article

The Correcting approach of Gyro-free inertial navigation based on applicable topological map

[+] Author and Article Information
Mehdi Dehghani

University of Tabriz, Faculty of Electrical & Computer Engineering, Tabriz, Iran
dehghani.mehdi@hotmail.com

Hamed Kharrati

University of Tabriz, Faculty of Electrical & Computer Engineering, Tabriz, Iran
kharrati@tabrizu.ac.ir

Mirhadi Seyedarabi

University of Tabriz, Faculty of Electrical & Computer Engineering, Tabriz, Iran
seyedarabi@tabrizu.ac.ir

Mahdi Baradarannia

University of Tabriz, Faculty of Electrical & Computer Engineering, Tabriz, Iran
mbaradaran@tabrizu.ac.ir

1Corresponding author.

ASME doi:10.1115/1.4041969 History: Received January 09, 2017; Revised November 03, 2018

Abstract

The accumulated error as well as the noise sensitivity, are the two common problems of ordinary inertial sensors. An accurate gyroscope is too expensive which is not normally applicable in low-cost missions of mobile robots. Since the accelerometers are rather cheaper than similar types of gyroscopes, using redundant accelerometers could be considered as an alternative. This mechanism is called Gyroscope-free navigation. The article deals with Autonomous mobile robot navigation based on Gyroscope-free method. In this research, the navigation errors of the Gyroscope-free method in long-time missions are demonstrated. To compensate the position error, the aid information of low-cost stereo cameras and a topological map of the workspace are employed in the navigation system. After precise sensor calibration, an amendment algorithm is presented to fuse the measurement of GFIMU (Gyroscope-free inertial measurement unit) and stereo camera observations. The advantages and comparisons of vision aid navigation and Gyroscope-free navigation of mobile robots will be also discussed. The experimental results show increasing the accuracy in vision-aid navigation of mobile robot.

Copyright (c) 2018 by ASME
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