The integration of some sensors for measuring the attitudes of a Manta robot

Liying Deng, Qiuying Wang, Kota Mikuriya, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The Manta robot is a kind of underwater robot that uses only one pair of right and left pectoral fins to produce swimming propulsive forces. The measurement system of a Manta robot used in this work includes a gyro, an accelerometer and a magnetometer. This paper is devoted to discuss the attitude determination algorithm of such a Manta Robot. Since the attitude determination combining the accelerometer and magnetometer measurements is only available when the robot is in a steady-state or of uniform motion, the gyro measurement is adopted to amend the attitude in a dynamic state by an unscented Kalman filter (UKF). What's more, the gyro has a drift, so that this error will be accumulated when the time goes on. Therefore, an autoregressive (AR) model is applied to model the stochastic drift of the gyro. The output of the gyro is denoised by the Kalman filter on the basis of this drift model. Finally, some experiments with a real robot are carried out to verify this plan.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages519-524
Number of pages6
ISBN (Electronic)9781509023943
DOIs
Publication statusPublished - Sep 1 2016
Event13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 - Harbin, Heilongjiang, China
Duration: Aug 7 2016Aug 10 2016

Other

Other13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
CountryChina
CityHarbin, Heilongjiang
Period8/7/168/10/16

Keywords

  • AR model
  • Attitude measurement
  • Manta robot
  • Unscented Kalman filter

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Computer Science Applications
  • Software

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  • Cite this

    Deng, L., Wang, Q., Mikuriya, K., & Watanabe, K. (2016). The integration of some sensors for measuring the attitudes of a Manta robot. In 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 (pp. 519-524). [7558617] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2016.7558617