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Accelerometer-Based Wheel Odometer for Kinematics Determination.

Ahmed A Youssef1, Naif Al-Subaie2, Naser El-Sheimy1

  • 1Department of Geomatics Engineering, Schulich School of Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada.

Sensors (Basel, Switzerland)
|March 6, 2021
PubMed
Summary
This summary is machine-generated.

This study presents the Accelerometer-based Wheel Odometer for Kinematics determination (AWOK), a low-cost system using a single accelerometer to measure vehicle distance accurately. The AWOK system achieves 0.15% relative accuracy, outperforming traditional wheel encoders.

Keywords:
accelerometer-based wheel odometryaccelerometersmicro-electro-mechanical systemspeak-valley relationshipwheel encoderswheel odometer

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Area of Science:

  • Robotics and Autonomous Systems
  • Mechanical Engineering
  • Sensor Technology

Background:

  • Wheel odometry is crucial for navigation in industries using wheeled vehicles.
  • Traditional wheel encoders determine velocity but have limitations.
  • Existing systems often struggle with high dynamics and sensor errors.

Purpose of the Study:

  • To introduce a novel, low-cost Accelerometer-based Wheel Odometer for Kinematics determination (AWOK) system.
  • To provide direct distance measurement, surpassing velocity-only outputs of conventional systems.
  • To offer a robust alternative to standard wheel encoders for vehicle navigation.

Main Methods:

  • The AWOK system utilizes a single-axis accelerometer mounted radially on the wheel's center.
  • A simple assembly is combined with an efficient data processing algorithm.
  • The system is designed to handle high dynamic conditions effectively.

Main Results:

  • The AWOK system directly provides distance measurements, unlike velocity-based speedometers.
  • It demonstrates a high capacity for handling dynamic movements.
  • The system is unaffected by short-term and long-term stochastic errors inherent in MEMS inertial sensors.
  • Achieved a relative accuracy of 0.15% in determining the distance covered by a car.

Conclusions:

  • The AWOK system offers a significant advantage over typical wheel odometers due to direct distance measurement.
  • Its simple design, efficient algorithm, and robustness in high dynamics make it a superior alternative.
  • The system's immunity to MEMS sensor errors and high accuracy position it as a valuable tool for vehicle kinematics.