Journal of Intelligent & Robotic Systems

, Volume 79, Issue 2, pp 211–220 | Cite as

Dead-Reckoning Scheme for Wheeled Mobile Robots Moving on Curved Surfaces

  • Jae-Hee Kim
  • Jae-Cheol Lee


This paper improves the conventional dead reckoning for a wheeled mobile robot moving on curved surfaces. Dead reckoning has been very popularly used for the estimation of mobile robot positions, as it uses a very simple algorithm and is very easy to implement in industrial mobile robots moving on a flat plain. Such mobile robots are being more widely applied for complex industrial tasks, including the inspections and maintenance of oil tanks, ship bodies, power plant components, and so on. Most of this type of equipment is composed of curved surfaces, such as those with cylindrical, spherical, or arbitrary shapes. For the successful accomplishment of such tasks on curved surfaces, the robot has to know its current position and travel on the curved surfaces of the equipment along a pre-specified path. In this paper, the authors propose an extended dead-reckoning scheme for wheeled mobile robots moving on a curved plane, and illustrate a formula with examples for spherical and cylindrical surfaces. The performance of the proposed algorithm is analyzed through a series of simulations and experiments using a magnet-wheeled mobile robot developed in our laboratory.


Dead-reckoning Curved surfaces Mobile robot Magnet wheel Position estimation 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Myer, J.: VEPOL-A Vehicular planimetric dead-reckoning computer. IEEE Trans. Veh. Technol. 20(2) (1971)Google Scholar
  2. 2.
    Brockelman, C.: Robotic inspection system for the lower head of a boiling water reactor pressure vessel. In: Proceedings of the ANS 5th Topical Meeting on Robotics and Remote Systems, pp. 409–415. Tennessee (1993)Google Scholar
  3. 3.
    Yuta, S, Kanayama, Y, Yajima, T, Shimmura, S.: An implementation of MICHI-A locomotion command system for intelligent robots. In: Proceedings Int’l Conference on Advanced Robotics, pp. 127–134. Tokyo (1985)Google Scholar
  4. 4.
    Kim, J.H., Cho, H.S.: An improved dead reckoning scheme for a mobile robot using neural network. MECHATRONICS 3(5), 625–645 (1993)CrossRefGoogle Scholar
  5. 5.
    Hardt, H., Husson, A.: The dead-reckoning localization system of the wheeled mobile robot ROMANE. In; IEEE/SICE/RSJ International Conference on Multi-Sensor Fusion and Integration for Intelligent System, pp. 603–610 (1996)Google Scholar
  6. 6.
    Tsumura, T., Fuziwara, N., Shirakawa, T., Hashimoto, M.: An experimental system for automatic guidance of roboted vehicle following the route stored in memory. In: 11th Int’l Symposium on Industrial Robots, pp. 45–53. Tokyo (1981)Google Scholar
  7. 7.
    Fuke, Y., Krotkov, E.: Dead reckoning for a lunar rover on uneven terrain. In: IEEE International Conference on Robotics and Automation, pp. 411–416. Minneapolis (1996)Google Scholar
  8. 8.
    Anounsaki, G., Kyriakopoulos, K.: A dead-reckoning scheme for skid-steered vehicles in outdoor environments. In: IEEE international Conference on Robotics and Automation. New Orleans (2004)Google Scholar
  9. 9.
    Huster, A., Fleischer, S., Rock, S.: Demonstration of a vision-based dead-reckoning system for navigation of an underwater vehicle. In: Autonomous Underwater Vehicle AUV98, pp. 185–189. Cambridge (1998)Google Scholar
  10. 10.
    Golfarelli, M., Maio, D., Rizzi, S.: Correction of dead-reckoning errors in map building for mobile robots. IEEE Trans. Robot. Autom. 17(1), 37–47 (2001)CrossRefGoogle Scholar
  11. 11.
    Tsai, C.: A localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurement. IEEE Trans. Instrum. Meas. 47(5), 1399–1404 (1998)CrossRefGoogle Scholar
  12. 12.
    Kim, J., Cho, H.: Real-time determination of a mobile robot’s position by linear scanning of a landmark. ROBOTICA 10(4), 309–319 (1992)MathSciNetCrossRefGoogle Scholar
  13. 13.
    Cho, S., Choi, W.: Robust positioning technique in low-cost DR/GPS for land navigation. IEEE Trans. Instrum. Meas. 44(4), 1132–1142 (2006)CrossRefGoogle Scholar
  14. 14.
    Kreyszig, E: Advanced Engineering Mathematics, Wiley International Edition. Wiley, New York (1972)Google Scholar
  15. 15.
    Kim J.: Dead reckoning of an underwater wheeled mobile robot, Available:

Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Intelligent Robotic Systems LaboratoryKorea Atomic Energy Research InstituteDaejeonKorea

Personalised recommendations