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Small mobile robots are an important class of Search and Rescue Robots.Integrating all required components into such small robots is a difficultengineering task. Smartphones have already been made small, lightweight andcheap by the industry and are thus an excellent candidate as main controllerfor such robots. In this paper we outline how ROS can be used on Androiddevices and then evaluate one sensor which is very important for mobile robots:the Inertial Measurement Unit (IMU). Experiments are performed under static anddynamic conditions to measure the error of the IMUs of three smartphones andthree professional IMUs. In the experiments we make use of a tracking systemand an autonomous mobile robot.

Evaluation of Smartphone IMUs for Small Mobile Search and Rescue Robots