A multiple sensor fusion based drift compensation algorithm for mecanum wheeled mobile robots

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dc.authoridCanbek, Oguz/0000-0003-3917-6444|Baran, Eray/0000-0002-6300-061X|Halabi, Abdurrahman/0000-0001-6349-7454|Ezim, Mert/0000-0003-2325-7127
dc.authorwosidBaran, Eray/U-3499-2019
dc.contributor.authorAlhalabi, Abdulrahman
dc.contributor.authorEzim, Mert
dc.contributor.authorCanbek, Kansu Oguz
dc.contributor.authorBaran, Eray A.
dc.date.accessioned2024-07-18T20:50:43Z
dc.date.available2024-07-18T20:50:43Z
dc.date.issued2021
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description.abstractThis paper investigates a multiple sensor fusion based drift compensation technique for a mecanum wheeled mobile robot platform. The mobile robot is equipped with high-precision encoders integrated to the wheels and four accelerometers placed on its chassis. The proposed algorithm combines the information from the encoders and the acceleration sensors to estimate the total drift in the acceleration dimension. The inner loop controller is designed utilizing a disturbance-observer-based acceleration control structure which is blind against the slipping motion of the wheels. The estimated drift acceleration from the sensor fusion is then mapped back to the joint space of the robot and used as additional compensation over the existing controllers. The proposed algorithm is tested on a series of experiments. The results of the experiments are also compared with those of a recent study in order to provide a benchmark evaluation. The enhanced tracking performance yielding towards smaller error magnitudes in the experiments illustrate the efficacy and success of the proposed control architecture in attenuating the positioning drift of mecanum wheeled robots.en_US
dc.description.sponsorshipIstanbul Bilgi University [2017.01.004]en_US
dc.description.sponsorshipThis study is partially supported by the Internal Research Grant 2017.01.004 of Istanbul Bilgi University.en_US
dc.identifier.doi10.3906/elk-2003-12
dc.identifier.endpage716en_US
dc.identifier.issn1300-0632
dc.identifier.issn1303-6203
dc.identifier.issue2en_US
dc.identifier.scopus2-s2.0-85104794732en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage704en_US
dc.identifier.trdizinid514918en_US
dc.identifier.urihttps://doi.org/10.3906/elk-2003-12
dc.identifier.urihttps://search.trdizin.gov.tr/yayin/detay/514918
dc.identifier.urihttps://hdl.handle.net/11411/8190
dc.identifier.volume29en_US
dc.identifier.wosWOS:000680005700003en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakTR-Dizinen_US
dc.language.isoenen_US
dc.publisherTubitak Scientific & Technological Research Council Turkeyen_US
dc.relation.ispartofTurkish Journal of Electrical Engineering and Computer Sciencesen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectHolonomic Mobile Roboten_US
dc.subjectMecanum Wheelen_US
dc.subjectDrift Compensationen_US
dc.subjectSensor Fusionen_US
dc.subjectAcceleration Controlen_US
dc.subjectMotion Controlen_US
dc.subjectLocalizationen_US
dc.subjectSystemen_US
dc.titleA multiple sensor fusion based drift compensation algorithm for mecanum wheeled mobile robotsen_US
dc.typeArticleen_US

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