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- W2531102722 abstract "AbstractMobile robot used for planetary exploration performs several scientific missions over long distance travel and needs to have a high degree of autonomous mobility system because the communication delay from the Earth impedes its direct teleoperation. Localization of a mobile robot is of particular importance on the autonomous mobility. Classical localization methods such as wheel/visual odometry have been widely investigated and demonstrated, but they possess a well-known trade-off between computational cost and localization accuracy. This paper proposes an accurate gyro-based odometry method for a wheeled mobile robot in rough terrain. The robot in rough terrain is often subject to large wheel slip or vehicle sideslip related with its steering maneuver, and those slips degrade the localization accuracy. The basic approach of the proposed method is to exploit odometry data for the robot distance traveled as well as gyroscope data for the robot heading calculation; however each data-set is weighted ..." @default.
- W2531102722 created "2016-10-21" @default.
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- W2531102722 date "2016-10-12" @default.
- W2531102722 modified "2023-09-28" @default.
- W2531102722 title "Gyro-based odometry associated with steering characteristics for wheeled mobile robot in rough terrain" @default.
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- W2531102722 doi "https://doi.org/10.1080/01691864.2016.1241719" @default.
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