Research in mobile robotics often demands platforms that have an adequate balance between cost and reliability. In the case of terrestrial robots, one of the available options is the GNBot, an open-hardware project intended for the evaluation of swarm search strategies. The lack of basic odometry sensors such as wheel encoders had so far difficulted the implementation of an accurate high-level controller in this platform. Thus, the aim of this thesis is to improve motion control in the GNBot by incorporating a gyroscope whilst maintaining the requisite of no wheel encoders. Among the problems that have been tackled are: accurate in-place rotations, minimal drift during linear motions, and arc-performing functionality. Additionally, the resulting controller is calibrated autonomously by using both the gyroscope module and the infrared rangefinder on board each robot, greatly simplifying the calibration of large swarms. The report first explains the design decisions that were made in order to implement the self-calibration routine, and then evaluates the performance of the new motion controller by means of off-line video tracking. The motion accuracy of the new controller is also compared with the previously existing solution in an odor search experiment.
Calibration of the internal and external parameters of wheeled robot mobile chasses and inertial measurement units based on nonlinear optimization
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（华中科技大学人工智能与自动化学院）；School of Automation, SouthEast University（东南大学自动化学院）
LGC-Net: A Lightweight Gyroscope Calibration Network for Efficient Attitude Estimation
University of Science and Technology of China（中国科学技术大学）；Peng Cheng Laboratory（鹏城实验室）；Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences（中国科学院纳米技术与纳米仿生研究所）
Joint axis estimation for fast and slow movements using weighted gyroscope and acceleration constraints
1 4 Department of Information Technology, Uppsala University, Uppsala, Sweden；2 3 Department of Electrical Engineering；4 Department of Mecatronics, Tecnol \'o gico de Monterrey, Mexico City, Mexico
Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems
Beijing Institute of Technology（北京理工大学）；Chongqing University（重庆大学）；Sichuan University（四川大学）；Northwestern Polytechnical University（西北工业大学）；Shanghai Jiao Tong University（上海交通大学）
