Skip to main content
SpringerLink
Log in

Research on the Calibration Method for the Heading Errors of Mobile Robot Based on Evolutionary Neural Network Prediction

  • Conference paper
Advances in Neural Networks – ISNN 2005 (ISNN 2005)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 3498))

Included in the following conference series:

  • 1207 Accesses

Abstract

Fiber optic gyros (FOG) is the important sensor for measuring the heading of mobile robot. Combined with measured data of E-Core RD1100 interferometric FOG made by American KVH company, the paper analyses the common calibration for the heading errors of mobile robot caused by the drift of FOG, and uses the method of evolutionary neural networks prediction to compensate it. By the experiments of mobile robot prototype, the paper also proves this method can reduce the error influence of FOG on the heading of mobile robot and enhance the localization precision of mobile robot navigation.

This work is supported by the National Natural Science Foundation of China (No. 60234030).

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Cai, Z.X., He, H.G., Chen, H.: Some Issues for Mobile Robot Navigation Under Unknown Environments (In Chinese). Control and Decision 17, 385–391 (2002)

    Google Scholar 

  2. Barshan, B., Durrant-Whyte, H.F.: Inertial Navigation Systems for Mobile Robots. IEEE Trans. on Robotics and Automation 11, 328–342 (1995)

    Article  Google Scholar 

  3. Borenstein, J.: Experimental Evaluation of a Fiber Optics Gyroscope for Improving Deadreckoning Accuracy in Mobile Robots. In: IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 3456–3461 (1998)

    Google Scholar 

  4. Bennett, S.M., Dyott, R., Allen, D., et al.: Fiber Optic Rate Gyros as Replacements for Mechanical Gyros. American Institute of Aeronautics & Astronautics, 1315-1321 (1998)

    Google Scholar 

  5. Chung, H., Ojeda, L., Borenstein, J.: Accurate Mobile Robot Dead-reckoning with a Precision- calibrated Fiber Optic Gyroscope. IEEE Trans. on Robotics and Automation 17, 80–84 (2001)

    Article  Google Scholar 

  6. Meng, Z.Q., Cai, Z.X.: Identification Method of Nonlinear Systems Based on Parallel Genetic Algorithm (in Chinese). Control and Decision 18, 368–370 (2003)

    MathSciNet  Google Scholar 

  7. Amir, F.A., Samir, I.S.: A Comparison Between Neural Network Forecasting Techniques- Case Study: River Flow Forecasting. IEEE Trans. on Neural Networks 10, 402–409 (1999)

    Article  Google Scholar 

  8. KVH, 8412 W. 185th St., Tinley Park, IL 60477, USA, http://www.kvh.com

Download references

Author information

Authors and Affiliations

  1. College of Information Science and Engineering, Central South University, Changsha, Hunan, 410083, China

    Jinxia Yu, Zixing Cai, Xiaobing Zou & Zhuohua Duan

  2. Department of Computer Science & Technology, Henan Polytechnic University, Jiaozuo, Henan, 454003, China

    Jinxia Yu

  3. Department of Computer Science, Shaoguan University, Shaoguan, Guangdong, 512003, China

    Zhuohua Duan

Authors
  1. Jinxia Yu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zixing Cai
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Xiaobing Zou
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Zhuohua Duan
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, China

    Jun Wang

  2. The Key Laboratory of Optoelectric Technology & Systems, Ministry of Education, China

    Xiao-Feng Liao

  3. Computational Intelligence Laboratory, School of Computer Science and Engineering, University of Electronic Science and Technology of China, 610054, Chengdu, P.R. China

    Zhang Yi

Rights and permissions

Reprints and permissions

Copyright information

© 2005 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Yu, J., Cai, Z., Zou, X., Duan, Z. (2005). Research on the Calibration Method for the Heading Errors of Mobile Robot Based on Evolutionary Neural Network Prediction. In: Wang, J., Liao, XF., Yi, Z. (eds) Advances in Neural Networks – ISNN 2005. ISNN 2005. Lecture Notes in Computer Science, vol 3498. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11427469_42

Download citation

  • DOI: https://doi.org/10.1007/11427469_42

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-25914-5

  • Online ISBN: 978-3-540-32069-2

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation