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Conference Paper: Accelerometer for mobile robot positioning

TitleAccelerometer for mobile robot positioning
Authors
KeywordsEngineering
Electrical engineering
Issue Date1999
PublisherIEEE.
Citation
The 34th IEEE - IAS Annual Meeting Conference Record Industry Applications Society, Phoenix, AZ., 3-7 October 1999, v. 3, p. 1735-1742 How to Cite?
AbstractAn evaluation of a low-cost, small sized solid state accelerometer is described in this paper. The sensor is intended for positioning of a mobile robot or platform. The acceleration signal outputted by the sensor is doubly integrated with time which yields the traveled distance. Bias offset drift exhibits in the acceleration signal is accumulative and the accuracy of the distance measurement deteriorates with time due to the integration. A Kalman filter is used to reduce errors caused by random noises. The random bias drift of the accelerometer was found by experiment to be 2.5 mg. The accelerometer was moved back and forth three times for a distance of 40 cm with an acceleration of 8 m/s2. The final distance error accumulated was -1.08 cm. The bias drift rate due to temperature was 0.108 μg/s when the accelerometer was placed at room temperature. The results show that the accelerometer could be a viable solution as a short duration distance-measuring device for a mobile robot or platform.
Persistent Identifierhttp://hdl.handle.net/10722/46163
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorLiu, HSen_HK
dc.contributor.authorPang, GKHen_HK
dc.date.accessioned2007-10-30T06:43:52Z-
dc.date.available2007-10-30T06:43:52Z-
dc.date.issued1999en_HK
dc.identifier.citationThe 34th IEEE - IAS Annual Meeting Conference Record Industry Applications Society, Phoenix, AZ., 3-7 October 1999, v. 3, p. 1735-1742en_HK
dc.identifier.issn0197-2618en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46163-
dc.description.abstractAn evaluation of a low-cost, small sized solid state accelerometer is described in this paper. The sensor is intended for positioning of a mobile robot or platform. The acceleration signal outputted by the sensor is doubly integrated with time which yields the traveled distance. Bias offset drift exhibits in the acceleration signal is accumulative and the accuracy of the distance measurement deteriorates with time due to the integration. A Kalman filter is used to reduce errors caused by random noises. The random bias drift of the accelerometer was found by experiment to be 2.5 mg. The accelerometer was moved back and forth three times for a distance of 40 cm with an acceleration of 8 m/s2. The final distance error accumulated was -1.08 cm. The bias drift rate due to temperature was 0.108 μg/s when the accelerometer was placed at room temperature. The results show that the accelerometer could be a viable solution as a short duration distance-measuring device for a mobile robot or platform.en_HK
dc.format.extent1381293 bytes-
dc.format.extent481856 bytes-
dc.format.extent4651 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.relation.ispartofIndustry Applications Society. IEEE - IAS Annual Meeting Conference Record-
dc.rights©1999 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectEngineeringen_HK
dc.subjectElectrical engineeringen_HK
dc.titleAccelerometer for mobile robot positioningen_HK
dc.typeConference_Paperen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=0197-2618&volume=3&spage=1735&epage=1742&date=1999&atitle=Accelerometer+for+mobile+robot+positioningen_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/IAS.1999.805974en_HK
dc.identifier.scopuseid_2-s2.0-0033310128-
dc.identifier.hkuros50485-
dc.identifier.hkuros61144-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0033310128&selection=ref&src=s&origin=recordpage-
dc.identifier.scopusauthoridLiu, HS=7409749513-
dc.identifier.scopusauthoridPang, GKH=7103393283-
dc.customcontrol.immutablesml 160112 - amend-

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