2P2-C18 Three-Dimensional Odometry for Tracked Vehicles Based on Multiple Internal Sensor Fusion
Yoshito Okada, Keiji Nagatani, Kazuya Yoshida · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2008
Gyro-based odometry is a robust and easy-to-use localization method for mobile robots. However, the Gyro-based odometry for tracked vehicles has difficulties to estimate its exact localization because of track-terrain slippage and gyroscopes' bias-drifts. To solve these problems, we propose an extended 3-dimensional odometry method for tracked vehicles based on multiple internal sensor fusion. The proposed method consists of slippage- compensation using encoders and gyroscopes, attitude correction using an acceleration sensor and gyroscopes' bias value update. Finally, a performance test was carried out in real environment to confirm a validity of our approach. In this paper, we introduce the three-dimensional localization method by extended gyro-based odometry and report the experimental results.