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In this paper, we propose an improved dead-reckoning method for estimating current position and orientation of the mobile robot using wheel-rotation sensors and a gyroscope. Up to now, pre-identified model is usually used to get more accurate posture from the gyroscope. However, this model can lose its accuracy during the operation including temperature change. To overcome this limitation, a real-time identification method based on disturbance condition is proposed so that the gyroscope information can keep its accuracy. The disturbance condition can determine whether there are lateral or longitudinal disturbances or not. Experimental results are presented, which show the effectiveness of our method in contrast with conventional ones.

Position Estimation of a Car-Like Mobile Robot Using a Gyroscope and Disturbance Conditions