Positional Measurement of Omnidirectional Mobile Robot using Acceleration Sensor

Abstract

To develop a navigation system which allows the person operating a robot to track its current location, measurement of location using odometry was proposed and attempted as the first step. With the conventional self-location estimation and calculation method, errors accumulate as a result of the sliding of the robot wheel and changes in the environment. We therefore measured the current location by comparing self-locations using various sensors, and also used an acceleration sensor to verify and enhance the precision of the proposed positional measurement.