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• W3136283225 startingPage "4782" @default.
• W3136283225 abstract "The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration to balance localization accuracy and traversal rate for planetary rovers. To address this, we investigate when to autonomously initiate stops to improve wheel-inertial odometry (WIO) localization performance with ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel slippage while the rover is in motion and forecasts the appropriate time to stop without changing any rover hardware or major rover operations. We validate with field tests that our approach is viable on different terrain types and achieves a 3D localization accuracy of ~97% over 650 m drives on rough terrain." @default.
• W3136283225 created "2021-03-29" @default.
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• W3136283225 date "2021-07-01" @default.
• W3136283225 modified "2023-10-17" @default.
• W3136283225 title "Slip-Based Autonomous ZUPT Through Gaussian Process to Improve Planetary Rover Localization" @default.
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• W3136283225 doi "https://doi.org/10.1109/lra.2021.3068893" @default.
• W3136283225 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/33969183" @default.
• W3136283225 hasPublicationYear "2021" @default.
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