Mobile Robot Controlling Possibilities of Inertial Navigation System

摘要

The paper explain analysis of inertial navigation system and accelerometric, gyroscopic sensors and describe possibilities of their application for inertial navigation of mobile robot. Such controlling system allows to monitor exact position of robot. These information can be applied for robot controlling, its autonomous control or its tracking. Inertial navigation is completely autonomous and independent from surroundings, i.e. the system is resistant from external influences as magnetic disturbances, electronically disturbance, signal deformation, etc. For mobile robots to be successful, they have to move safely in environments populated and dynamic. While recent research has led to a variety of localization methods that can track robots well in static environments, we still lack methods that can robustly localize mobile robots in dynamic environments.