Mobile robot position determination using data from gyro and odometry
F. Azizi, Nasser Houshangi · 2004
The research objective is to determine an accurate position and orientation for mobile robots based on information received from odometry and inertial sensors. For a wheeled robot, odometry is one of the important means of achieving the robot position. To improve on odometry's error, the information from odometry is integrated with the inertial system using unscented Kalman filter (UKF).