Odometry and Inertial Sensor-based Localization of a Snake Robot
- Resource Type
- Conference
- Authors
- Shahid, Ramsha; Baloch, Anam; Tahir, Humayun; Ullah, Anayat
- Source
- 2023 International Conference on Robotics and Automation in Industry (ICRAI) Robotics and Automation in Industry (ICRAI), 2023 International Conference on. :1-6 Mar, 2023
- Subject
- Power, Energy and Industry Applications
Robotics and Control Systems
Location awareness
Industries
Measurement units
Snake robots
Inertial navigation
Disaster management
Robot sensing systems
localization
probabilistic techniques
sensor fusion
IMU
odometry
EKF
UKF
- Language
- ISSN
- 2831-3313
Terrain adaptability gives snake robots an edge over wheeled mobile robots. Snake robot's applications expansion to disaster management is due to its limbless and modular design. Replicating the navigation and locomotion of a biological snake have been in the spotlight for many researchers. In this study, a robust localization algorithm of a snake robot is developed. A sensor fusion-based algorithm using probabilistic approaches: UKF (Unscented Kalman Filter) and EKF (Extended Kalman Filter) has been proposed. Odometry is fused with one and two IMUs (Inertial Measurement Units) with both probabilistic approaches. Evaluation of results in a simulation environment showed that the fusion of two IMUs and odometry using EKF outer performs in terms of accuracy when odometry is fused with one IMU using EKF. Furthermore, the fusion of two IMUs and odometry with UKF is computationally expensive resulting in a large convergence time which is not the best suitable approach that can be utilized for the snake robot.