Posture algorithm for mobile robot based on ultrawide band
Inertial measurement unit or other navigation devices are used to obtain the posture information of most mobile robots based on ultrawide band. However, problems, such as zero drift, temperature drift, and error increasing with time, exist in inertial measurement unit and other navigation devices. T...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2022-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806221115285 |
| _version_ | 1811223288480792576 |
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| author | Jing Sun Bin Xie Wei Xiong Qiaolong Zhang Zhenyu Zhao |
| author_facet | Jing Sun Bin Xie Wei Xiong Qiaolong Zhang Zhenyu Zhao |
| author_sort | Jing Sun |
| collection | DOAJ |
| description | Inertial measurement unit or other navigation devices are used to obtain the posture information of most mobile robots based on ultrawide band. However, problems, such as zero drift, temperature drift, and error increasing with time, exist in inertial measurement unit and other navigation devices. To overcome these problems, a posture algorithm for mobile robot based on ultrawide band is proposed in this article. Real-time posture information can be obtained by the posture algorithm without using inertial measurement unit and other navigation devices. Simulated results show that the mean absolute error and root mean square error of posture angle in the global coordinate system are 0.951° and 1.169°, respectively. Both the simulated and experimental trajectories show good agreement with the ideal trajectory. The results indicate that the posture data can be obtained accurately by the posture algorithm and the accuracy can meet the requirements for most mobile robots. This article is expected to be of great guiding significance for the development of mobile robots. |
| first_indexed | 2024-04-12T08:30:24Z |
| format | Article |
| id | doaj.art-07b6a0a8883c4bacb958d1017ef32217 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-04-12T08:30:24Z |
| publishDate | 2022-07-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-07b6a0a8883c4bacb958d1017ef322172022-12-22T03:40:14ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142022-07-011910.1177/17298806221115285Posture algorithm for mobile robot based on ultrawide bandJing Sun0Bin Xie1Wei Xiong2Qiaolong Zhang3Zhenyu Zhao4 School of Electrical and Information Engineering, Hunan Institute of Engineering, Xiangtan, People’s Republic of China School of Electrical and Information Engineering, Hunan Institute of Engineering, Xiangtan, People’s Republic of China School of Electrical and Information Engineering, Hunan Institute of Engineering, Xiangtan, People’s Republic of China School of Electrical and Information Engineering, Hunan Institute of Engineering, Xiangtan, People’s Republic of China State Grid Xiangxiang Power Supply Company, Xiangtan, People’s Republic of ChinaInertial measurement unit or other navigation devices are used to obtain the posture information of most mobile robots based on ultrawide band. However, problems, such as zero drift, temperature drift, and error increasing with time, exist in inertial measurement unit and other navigation devices. To overcome these problems, a posture algorithm for mobile robot based on ultrawide band is proposed in this article. Real-time posture information can be obtained by the posture algorithm without using inertial measurement unit and other navigation devices. Simulated results show that the mean absolute error and root mean square error of posture angle in the global coordinate system are 0.951° and 1.169°, respectively. Both the simulated and experimental trajectories show good agreement with the ideal trajectory. The results indicate that the posture data can be obtained accurately by the posture algorithm and the accuracy can meet the requirements for most mobile robots. This article is expected to be of great guiding significance for the development of mobile robots.https://doi.org/10.1177/17298806221115285 |
| spellingShingle | Jing Sun Bin Xie Wei Xiong Qiaolong Zhang Zhenyu Zhao Posture algorithm for mobile robot based on ultrawide band International Journal of Advanced Robotic Systems |
| title | Posture algorithm for mobile robot based on ultrawide band |
| title_full | Posture algorithm for mobile robot based on ultrawide band |
| title_fullStr | Posture algorithm for mobile robot based on ultrawide band |
| title_full_unstemmed | Posture algorithm for mobile robot based on ultrawide band |
| title_short | Posture algorithm for mobile robot based on ultrawide band |
| title_sort | posture algorithm for mobile robot based on ultrawide band |
| url | https://doi.org/10.1177/17298806221115285 |
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