
Proceedings Paper
Heuristics-enhanced dead-reckoning (HEDR) for accurate position tracking of tele-operated UGVsFormat | Member Price | Non-Member Price |
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Paper 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.
Paper Details
Date Published: 7 May 2010
PDF: 12 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76921R (7 May 2010); doi: 10.1117/12.850301
Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)
PDF: 12 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76921R (7 May 2010); doi: 10.1117/12.850301
Show Author Affiliations
Russell Miller, Univ. of Michigan (United States)
David Thomas, Univ. of Michigan (United States)
David Thomas, Univ. of Michigan (United States)
Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)
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