Estimation of the Speed From the Odometer Readings Using Optimized Curve-Fitting Filter

Nemec Dusan; Hrubos Marian; Janota Ales; Pirnik Rastislav; Gregor Michal

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Estimation of the Speed From the Odometer Readings Using Optimized Curve-Fitting Filter

机译：利用优化曲线拟合滤波器估计来自里程表读数的速度

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摘要

Odometry is one of most-used techniques used in mobile robotics and autonomous vehicles, especially when the indoor navigation is required or when robot or vehicle moves inside the tunnel. The output of the odometer is usually a count of pulses corresponding to the distance run by given wheel. Due to the quantization noise, estimation of the velocity (first derivative of the distance) is challenging. This article is focused on curve-fitting filter used for the speed estimation and optimization of its parameters, considering the physical constraints of the robot, sampling frequency of the system and the quantization step. The paper proposes an empirical formula for estimating the optimal parameters of the curve fitting filter. The optimized filter has been evaluated using both simulation and real experiment and compared with several standard differentiation methods.

机译：OCOMORY是移动机器人和自治车辆中使用的最常用技术之一，特别是当需要室内导航或者机器人或车辆在隧道内移动时。里程表的输出通常是与给定轮子运行的距离对应的脉冲的计数。由于量化噪声，速度估计（距离的第一导数）是具有挑战性的。本文专注于用于速度估计和优化其参数的曲线拟合滤波器，考虑机器人的物理限制，系统的采样频率和量化步骤。本文提出了一种用于估计曲线配件滤波器的最佳参数的经验公式。已经使用模拟和实验评估了优化的过滤器，并与几种标准分化方法进行了比较。

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来源
《IEEE sensors journal》 |2021年第14期|15687-15695|共9页
作者
Nemec Dusan; Hrubos Marian; Janota Ales; Pirnik Rastislav; Gregor Michal;
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作者单位

Univ Zilina Fac Elect Engn & Informat Technol Dept Control & Informat Syst Zilina 01026 Slovakia;

Univ Zilina Fac Elect Engn & Informat Technol Dept Control & Informat Syst Zilina 01026 Slovakia;

Univ Zilina Fac Elect Engn & Informat Technol Dept Control & Informat Syst Zilina 01026 Slovakia;

Univ Zilina Fac Elect Engn & Informat Technol Dept Control & Informat Syst Zilina 01026 Slovakia;

Univ Zilina Fac Elect Engn & Informat Technol Dept Control & Informat Syst Zilina 01026 Slovakia;

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原文格式 PDF
正文语种 eng
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关键词
Odometry; velocity estimation; quantization noise; curve fitting filter; tunnel navigation;

机译：径管;速度估计;量化噪声;曲线拟合滤波器;隧道导航;

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Estimation of the Speed From the Odometer Readings Using Optimized Curve-Fitting Filter

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