Posture estimation of a car-like mobile robot using disturbance conditions

In this paper, we propose an improved dead-reckoning method for estimating the current position and orientation of a mobile robot using wheel-rotation sensors and a gyroscope. Up to now, a pre-identified model has usually bee n used to get accurate posture from the gyroscope. However, this model can lose its accuracy during the operation (e.g. due to temperature change). To overcome this limitation, a real-time identification method based on the d isturbance condition is proposed so that the gyroscope information can keep its accuracy. The disturbance condition can determine whether there are la teral or longitudinal disturbances or not. Experimental results are present ed, which show the effectiveness of our method in contrast with conventiona l ones.