Facultad Regional Córdoba

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A comparison of bayesian filters for orientation estimation
(Universidad Nacional de Río Negro, 2013) Paz, Claudio; Pérez Paina, Gonzalo; Toloza, Hugo
This work presents an empirical study that compares the performance of Bayesian filters for orientation estimation using data provided by an Inertial Measurement Unit. A two-stages measurement update was implemented for different variants of Kalman and particles filters using quaternions as orientation representation method. Empirical results show that all tested algorithms converge to the correct orientation even if the initial orientation is unknown.
Design and implementation of a multi-sensor module for mobile robotics applications
(Facultad de Ingeniería de Buenos Aires, 2012) Pérez Paina, Gonzalo; Elizondo, Fernando E.; Suárez, David A.; Canali, Luis R.
This paper presents the design and implementation of a sensor module for mobile robotics applications. Even though the module was designed for a specific mobile robot it can be adapted to different types of robots, either wheeled or flying vehicles. The set of sensors comprises an ultrasonic ring allowing the robot to perceive its surrounding environment, and an inertial sensor useful for motion estimation in data integration approaches. The present paper describes in detail the design of an embedded system for the sensor module including the hardware, firmware and high level processing software framework.