멀티센서 융합을 이용한 자율이동로봇의 주행기록계 에러 보상에 관한 연구

A Study on Odometry Error Compensation using Multisensor fusion for Mobile Robot Navigation

This paper present effective odometry error compensation using multisensor fusion for the accurate positioning of mobile robot in navigation. During obstacle avoidance and wall following of mobile robot, position estimates obtained by odometry become unrealistic and useless because of its accumulated errors. To measure the position and heading direction of mobile robot accurately, odometry sensor a gyroscope and an azimuth sensor are mounted on mobile robot and Complementary-filter is designed and implemented in order to compensate complementary drawback of each sensor and fuse their information. The experimental results show that the multisensor fusion system is more accurate than odometry only in estimation of the position and direction of mobile robot.