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A Novel LiDAR–IMU–Odometer Coupling Framework for Two-Wheeled Inverted Pendulum (TWIP) Robot Localization and Mapping with Nonholonomic Constraint Factors
This paper proposes a method to solve the problem of localization and mapping of a two-wheeled inverted pendulum (TWIP) robot on approximately flat ground using a Lidar–IMU–Odometer system. When TWIP is in motion, it is constrained by the ground and suffers from motion disturbances caused by rough t...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
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MDPI
2022
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| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9268906/ https://www.ncbi.nlm.nih.gov/pubmed/35808273 http://dx.doi.org/10.3390/s22134778 |