A Drift-Free Navigation System for a Mobile Robot Operating on Unstructured Terrain

[+] Author and Article Information
S. V. Sreenivasan, K. J. Waldron

Department of Mechanical Engineering, The Ohio State University, Columbus, OH 43210

J. Mech. Des 116(3), 894-900 (Sep 01, 1994) (7 pages) doi:10.1115/1.2919466 History: Received December 01, 1992; Revised July 01, 1993; Online June 02, 2008


The orientation and the angular rates of the body of a robotic vehicle are required for the guidance and control of the vehicle. In the current robotic systems these quantities are obtained by the use of inertial sensing systems. Inertial sensing systems involve drift errors which can be significant even after the vehicle has traversed only short distances on the terrain. A different approach is suggested here which guarantees accurate, drift-free sensing of the angular position and rates of the vehicle body. A camera system consisting of two cameras in fixed relationship to one another is made to continuously track two stationary objects (stars or the sun). The camera system is mounted on the vehicle body through an actuated three-degree-of-freedom joint. The angular positions and rates of these joints can be used to evaluate the angular positions and rates of the vehicle body. An estimate of the absolute position of the vehicle on the terrain can also be obtained from this sensing system. This can serve as the primary system for estimating the position of a vehicle on a planet, or as an inexpensive alternative/backup to a more accurate Global Positioning System (GPS) for estimating the position of a vehicle on earth.

Copyright © 1994 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In