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Book Overview & Buying
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Table Of Contents
Learn Robotics Programming - Third Edition
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In Chapter 12, Encoder-Based Localisation with Python, we saw how the encoder can provide information about how the robot has moved. However, as you also saw with pose movement, encoders can be fooled by wheels slipping and provide only relative movement information. Encoders can quickly grow asymmetric errors and produce curved paths that the robot did not really take. If we want to know the absolute orientation or provide another way to improve our orientation information, we need a compass. Like a compass, magnetic interference can affect heading accuracy, especially indoors.
An inertial measurement unit (IMU) provides a group of sensors we can use to estimate the robot's absolute orientation, or orientation relative to a starting point. The IMU can also be used to determine the orientation's rate of change.
This chapter introduces the IMU, shows you how to add it to your robot, make the data available and use it in behaviors.
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