제어로봇시스템학회:학술대회논문집
- 1997.10a
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- Pages.544-547
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- 1997
dynamic localization of a mobile robot using a rotating sonar and a map
회전 초음파 센서와 지도를 이용한 이동 로보트의 동적 절대 위치 추정
Abstract
In this paper, we propose a dynamic localization method using a rotating sonar and a map. The proposed method is implemented by using extended Kalman filter. The state equation is based on the encoder propagation model and the encoder error model, and the measurement equation is a map-based measurement equation using a rotating sonar sensor. By utilizing sonar beam characteristics, map-based measurements are updated while AMR is moving continuously. By modeling and estimating systematic errors of a differential encoder, the position is successfully estimated even the interval of the map-based measurement. Monte-Carlo simulation shows that the proposed global position estimator has the performance of a few millimeter order in position error and of a few tenth degrees in heading error and of compensating systematic errors of the differential encoder well.