TY - GEN
T1 - An attitude estimation system for amphibious spherical robots
AU - Shi, Liwei
AU - Xiao, Rui
AU - Guo, Shuxiang
AU - Guo, Ping
AU - Pan, Shaowu
AU - He, Yanlin
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/2
Y1 - 2015/9/2
N2 - As one of the most effective tools for exploring the ocean, automatic underwater vehicles have attracted a lot of attentions for years. But some key problems have not been solved properly. It is especially difficult to design underwater vehicles in small size. In this paper, three inertial sensors were adopted to fabricate an attitude estimation system, which provided posture information for our amphibious spherical robot to realize motion control and autonomous navigation. The pitch, roll and heading angel were acquired from current robot attitude matrix, which was calculated from the quaternion algorithm. And the attitude was corrected by the fusion of accelerometer and magnetic sensor. Experimental results verified the validation and precision of the robotic attitude estimation system. It has manifested that the system is effective to realize the robot control and navigation.
AB - As one of the most effective tools for exploring the ocean, automatic underwater vehicles have attracted a lot of attentions for years. But some key problems have not been solved properly. It is especially difficult to design underwater vehicles in small size. In this paper, three inertial sensors were adopted to fabricate an attitude estimation system, which provided posture information for our amphibious spherical robot to realize motion control and autonomous navigation. The pitch, roll and heading angel were acquired from current robot attitude matrix, which was calculated from the quaternion algorithm. And the attitude was corrected by the fusion of accelerometer and magnetic sensor. Experimental results verified the validation and precision of the robotic attitude estimation system. It has manifested that the system is effective to realize the robot control and navigation.
KW - Amphibious spherical robot
KW - Attitude calculation
KW - Quaternion
UR - http://www.scopus.com/inward/record.url?scp=84955292201&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2015.7237806
DO - 10.1109/ICMA.2015.7237806
M3 - Conference contribution
AN - SCOPUS:84955292201
T3 - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
SP - 2076
EP - 2081
BT - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
Y2 - 2 August 2015 through 5 August 2015
ER -