Slip-Based Autonomous ZUPT Through Gaussian Process to Improve Planetary Rover Localization

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...

Full description

Saved in:

Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 6; no. 3; pp. 4782 - 4789
Main Authors:	Kilic, Cagri, Ohi, Nicholas, Gu, Yu, Gross, Jason
Format:	Journal Article
Language:	English
Published:	United States IEEE 01.07.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Accuracy Algorithms Dead reckoning Estimation Extraterrestrial measurements Field tests Gaussian process Inertial navigation Kernel Localization Location awareness Navigation systems Planetary rovers Reliability aspects Rough terrain Slippage Space robotics and automation Space vehicles Training Wheels zero velocity update Planetary Rovers Localization Space Robotics and Automation Zero Velocity Update
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Be the first to leave a comment!