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Conference Paper: Accelerometer for mobile robot positioning
Title | Accelerometer for mobile robot positioning |
---|---|
Authors | |
Keywords | Engineering Electrical engineering |
Issue Date | 1999 |
Publisher | IEEE. |
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? |
Abstract | An 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 Identifier | http://hdl.handle.net/10722/46163 |
ISSN | 2023 SCImago Journal Rankings: 0.422 |
References |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Liu, HS | en_HK |
dc.contributor.author | Pang, GKH | en_HK |
dc.date.accessioned | 2007-10-30T06:43:52Z | - |
dc.date.available | 2007-10-30T06:43:52Z | - |
dc.date.issued | 1999 | en_HK |
dc.identifier.citation | The 34th IEEE - IAS Annual Meeting Conference Record Industry Applications Society, Phoenix, AZ., 3-7 October 1999, v. 3, p. 1735-1742 | en_HK |
dc.identifier.issn | 0197-2618 | en_HK |
dc.identifier.uri | http://hdl.handle.net/10722/46163 | - |
dc.description.abstract | An 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.extent | 1381293 bytes | - |
dc.format.extent | 481856 bytes | - |
dc.format.extent | 4651 bytes | - |
dc.format.mimetype | application/pdf | - |
dc.format.mimetype | application/pdf | - |
dc.format.mimetype | text/plain | - |
dc.language | eng | en_HK |
dc.publisher | IEEE. | en_HK |
dc.relation.ispartof | Industry 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. | - |
dc.subject | Engineering | en_HK |
dc.subject | Electrical engineering | en_HK |
dc.title | Accelerometer for mobile robot positioning | en_HK |
dc.type | Conference_Paper | en_HK |
dc.identifier.openurl | http://library.hku.hk:4550/resserv?sid=HKU:IR&issn=0197-2618&volume=3&spage=1735&epage=1742&date=1999&atitle=Accelerometer+for+mobile+robot+positioning | en_HK |
dc.description.nature | published_or_final_version | en_HK |
dc.identifier.doi | 10.1109/IAS.1999.805974 | en_HK |
dc.identifier.scopus | eid_2-s2.0-0033310128 | - |
dc.identifier.hkuros | 50485 | - |
dc.identifier.hkuros | 61144 | - |
dc.relation.references | http://www.scopus.com/mlt/select.url?eid=2-s2.0-0033310128&selection=ref&src=s&origin=recordpage | - |
dc.identifier.scopusauthorid | Liu, HS=7409749513 | - |
dc.identifier.scopusauthorid | Pang, GKH=7103393283 | - |
dc.customcontrol.immutable | sml 160112 - amend | - |
dc.identifier.issnl | 0197-2618 | - |