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Abstract
This paper analyzes the problem of determining the position of a robot using an accelerometer, which is an essential part of inertial measurement units (IMU). The information gained from such a gauge, however, requires double integration of sensor data. To assure an expected effect, a mathematical model of a low-cost accelerometer of the MEMS type is derived. Moreover, in order to improve the performance of positioning based on acceleration, we propose to construct the designed location system using a mathematical model of the considered mobile robot controlled by a DC motor. Computational and simulation case studies of the resulting observer-based system, in deterministic and stochastic settings, are performed to test the method, to determine its limitations, and, in particular, to verify if the system can work properly for low-cost accelerometers of standard precision.
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- Category:
- Conference activity
- Type:
- publikacja w wydawnictwie zbiorowym recenzowanym (także w materiałach konferencyjnych)
- Title of issue:
- The 12th International Conference on Diagnostics of Processes and Systems (DPS’2015) strony 1 - 12
- Language:
- English
- Publication year:
- 2015
- Bibliographic description:
- Kowalczuk Z., Merta T.: Evaluating the mobile robot positions using accelerometer data// The 12th International Conference on Diagnostics of Processes and Systems (DPS’2015)/ ed. IPCChair: Kowalczuk Zdzisław Polska: PAN, POLSPAR, GUT, UZ, WUT, 2015, s.1-12
- Verified by:
- Gdańsk University of Technology
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