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Abstract
This paper analyses 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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Details
- Category:
- Monographic publication
- Type:
- rozdział, artykuł w książce - dziele zbiorowym /podręczniku w języku o zasięgu międzynarodowym
- Title of issue:
- Advanced and Intelligent Computations in Diagnosis and Control strony 115 - 126
- Language:
- English
- Publication year:
- 2016
- Bibliographic description:
- Kowalczuk Z., Merta T.: Evaluating the position of a mobile robot using accelerometer data// Advanced and Intelligent Computations in Diagnosis and Control/ ed. Z. Kowalczuk Cham – Heidelberg – New York – Dordrecht – London : Springer IP Switzerland, 2016, s.115-126
- DOI:
- Digital Object Identifier (open in new tab) 10.1007/978-3-319-23180-8_10
- Verified by:
- Gdańsk University of Technology
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