Experimental evaluation on position estimation of mobile robot by the combined use of odometry and gyro

This study aims to improve the accuracy of position estimation of odometry by the combined use of piezoelectric vibration gyro. The method of reducing the sudden odometric error caused by slip of the wheel is investigated examining the measurement accuracy of the rotational angle and drift characteristics of piezoelectric vibration gyro. It is revealed that the amount of drift is so large that the drift compensation is necessitated. A new drift compensation technique based on low pass filtering is proposed and its effectiveness is evaluated by the experiment. Performing the position estimation experiment, two positioning methods, the odometry and the combined use of odometry and gyro, are compared. (author)