Heuristics-enhanced dead-reckoning (HEDR) for accurate position tracking of tele-operated UGVs

Abstract

This paper introduces a new approach for precision indoor tracking of tele-operated robots, called "Heuristics-Enhanced Dead-reckoning" (HEDR). HEDR does not rely on GPS, or external references; it uses odometry and a low-cost MEMS-based gyro. Our method corrects heading errors incurred by the high drift rate of the gyro by exploiting the structured nature of most indoor environments, but without having to directly measure features of the environment. The only operator feedback offered by most tele-operated robots is the view from a low to the ground onboard camera. Live video lets the operator observe the robot's immediate surroundings, but does not establish the orientation or whereabouts of the robot in its environment. Mentally keeping track of the robot's trajectory is difficult, and operators easily become disoriented. Our goal is to provide the tele-operator with a map view of the robot's current location and heading, as well as its previous trajectory, similar to the information provided by an automotive GPS navigation system. This frees tele-operators to focus on controlling the robot and achieving other mission goals, and provides the precise location of the robot if it becomes disabled and needs to be recovered.