Abstract
The paper is concerned with the problem of determination of motion parameters of a wheeled mobile robot using the inertial measurement method. The algorithm proposed in Part 1 of the article is verified in empirical experiments with a four-wheeled mobile robot PIAP SCOUT. Main design features of the robot are presented. The measurement and control system is described in details. The measurement system is based on a low-cost MEMS Inertial Measurement Unit. Selected results of empirical experiments are shown and thoroughly discussed. Performance of the algorithm with the low-cost sensors is evaluated. It is concluded that the presented simple method enables determination of unknown motion parameters, especially in applications where only short duration of experiments is required. Quality of the obtained results, however, shows scope for improvement. The weakest point of the measurement system are unreliable changes of the Euler angles obtained from the low-cost MEMS gyroscopes.Keywordswheeled mobile robotmotion parametersInertial Measurement Unitempirical researchlow-cost sensorsMEMS accelerometerMEMS gyroscope
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