Section 3: Mobile Robot Positioning
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Precision Indoor Tracking of Tele-operated UGVs |
| • | Purpose: To facilitate tele-operation of UGVs by providing tele-operator a GPS-like visual trajectory when UGV is driven inside buildings. |
| • |
Principle of
operation:
–Uses low-cost gyro
together with UGV’s built-in odometry.
–Uses our
patent-pending Heuristics Drift Elimination (HDE) method to eliminate
effects of all gyro errors, including gyro drift.
–Does not require
GPS, RF beacons, or fiducials.
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| • |
Performance:
–Zero heading errors in
runs of unlimited duration!*
–Average position
errors <1% of distance traveled!*
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Above:
Trajectory of a 20-minute tracked robot drive through a university building.
HDE eliminates all heading errors. Final position error: <1 m
(0.07% of distance traveled). Left: Exact same run as above, but without our HDE method. |
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| * Only when used inside buildings and at steady state. | ||