| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
I have two sensors providing a z-axis rotation estimate on a two-wheeled differential drive platform:
Does it make sense to use some algorithm to merge these two, or should I just rely on the gyro? If I should combine them, what's the proper algorithm to use (Kalman filter, Complementary filter, simple moving average, etc)?
I suggest you to use an Extended Kalman Filter. It can provide an estimation of the robot's orientation by filtering both wheel's and gyro's drifts.
Is there a simple implementation you can recommend, preferably that could run on an Arduino? All the ones I've found seem terribly complicated, and assume you're trying to merge two three-dimensional vectors representing accelerometer and gryoscope readings, not simple scalars, as I'm trying to do.
Asked: 2017-03-27 14:04:28 -0500
Seen: 276 times
Last updated: Mar 28 '17
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
