MAS 2012 Proceeding

Inertial acceleration application for wheel slip measurement of mobile robots

Authors:   Daniel Szocs, Teodor Pan?, Andrei Fene?an, Ioana Vese


Smartphone three-axis acceleration sensors mounted on a mobile robot in conjunction with motor wheel encoders are used to determine wheel slip. Inertial acceleration is obtained by means of gravity compensation. Signal drift is observed when determining the vehicle speed by integrating the inertial acceleration data. A Kalman filter is used to correct noise from sensor data and attenuate the drift effect. Vehicle speed determined from acceleration sensor data is compared to wheel encoder data to determine wheel slip.

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