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Section 3: Mobile Robot Positioning

Precision Indoor Tracking of Tele-operated UGVs

   
Purpose:
To facilitate tele-operation of UGVs by providing tele-operator a GPS-like visual trajectory when UGV is driven inside buildings.
Principle of operation:
–Uses low-cost gyro together with UGV’s built-in odometry.
–Uses our patent-pending Heuristics Drift Elimination (HDE) method to eliminate effects of all gyro errors, including gyro drift.
–Does not require GPS, RF beacons, or fiducials.
Performance:
–Zero heading errors in runs of unlimited duration!*
–Average position errors <1% of distance traveled!*
Above: Trajectory of a 20-minute tracked robot drive through a university building. HDE eliminates all heading errors. Final position error: <1 m (0.07% of distance traveled).

Left: Exact same run as above, but without our HDE method.

* Only when used inside buildings and at steady state.