Repozytorium publikacji - Politechnika Gdańska

This paper analyzes the problem of determining the position of a robot using an accelerometer, which is an essential part of inertial measurement units (IMU). The information gained from such a gauge, however, requires double integration of sensor data. To assure an expected effect, a mathematical model of a low-cost accelerometer of the MEMS type is derived. Moreover, in order to improve the performance of positioning based on acceleration, we propose to construct the designed location system using a mathematical model of the considered mobile robot controlled by a DC motor. Computational and simulation case studies of the resulting observer-based system, in deterministic and stochastic settings, are performed to test the method, to determine its limitations, and, in particular, to verify if the system can work properly for low-cost accelerometers of standard precision.

Autorzy

• prof. dr hab. inż. Zdzisław Kowalczuk link otwiera się w nowej karcie ,
• dr inż. Tomasz Merta link otwiera się w nowej karcie