2P1-R16 Influence of Errors in Contact Angles upon the Three-Dimensional Gyro-Odometry Using Contact Point Information : Self-Localization Simulation of a Bicycle Type Mobile Robot(Wheeled Robot/Tracked Vehicle (3))

Abstract

Three-dimensional gyro-odometry is developed to estimate a location of a mobile robot on uneven terrain recently. In order to increase the accuracy of the method, we also propose three-dimensional gyro-odometry using contact point information. Our method requires a contact angle on each wheel in addition to the wheels' rotation angles and robot's orientation. Therefore, the performance of our method is influenced by the accuracy of the contact angles. In this paper, the in uence of errors in the contact angles upon our method is investigated by self-localization simulation of a bicycle type mobile robot traveling on a curved surface.