A novel Stereo-IMU system based on accurate pose parameterization of two-wheeled inverted pendulum (TWIP) robot in localization and mapping
ISSN: 0143-991x
Article publication date: 8 February 2022
Issue publication date: 20 September 2022
Abstract
Purpose
This paper aims to propose a method to solve the problem of localization and mapping of a two-wheeled inverted pendulum (TWIP) robot on the ground using the Stereo–inertial measurement unit (IMU) system. This method reparametrizes the pose according to the motion characteristics of TWIP and considers the impact of uneven ground on vision and IMU, which is more adaptable to the real environment.
Design/methodology/approach
When TWIP moves, it is constrained by the ground and swings back and forth to maintain balance. Therefore, the authors parameterize the robot pose as SE(2) pose plus pitch according to the motion characteristics of TWIP. However, the authors do not omit disturbances in other directions but perform error modeling, which is integrated into the visual constraints and IMU pre-integration constraints as an error term. Finally, the authors analyze the influence of the error term on the vision and IMU constraints during the optimization process. Compared to traditional algorithms, the algorithm is simpler and better adapt to the real environment.
Findings
The results of indoor and outdoor experiments show that, for the TWIP robot, the method has better positioning accuracy and robustness compared with the state-of-the-art.
Originality/value
The algorithm in this paper is proposed for the localization and mapping of a TWIP robot. Different from the traditional positioning method on SE(3), this paper parameterizes the robot pose as SE(2) pose plus pitch according to the motion of TWIP and the motion disturbances in other directions are integrated into visual constraints and IMU pre-integration constraints as error terms, which simplifies the optimization parameters, better adapts to the real environment and improves the accuracy of positioning.
Keywords
Acknowledgements
This article support by Self-Planned Task (NO: SKLRS202105B) of State Key Laboratory of Robotics and System (HIT) and the Natural Science Foundation of Heilongjiang Province of China (YQ2021F011).
Funding: Natural Science Foundation of Heilongjiang Province of China (YQ2021F011). Self-Planned Task of the State Key Laboratory of Robotics and System (HIT)(SKLR202105B).
Citation
Zhai, Y., Feng, H., Zhou, H., Zhang, S. and Fu, Y. (2022), "A novel Stereo-IMU system based on accurate pose parameterization of two-wheeled inverted pendulum (TWIP) robot in localization and mapping", Industrial Robot, Vol. 49 No. 6, pp. 1042-1057. https://doi.org/10.1108/IR-11-2021-0277
Publisher
:Emerald Publishing Limited
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