대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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이동로봇의 Localization을 위한 Gryo sensor에 의한 Odometry Error 보정에 관한 연구

Odometry error correction by Gyro sensor for mobile robot localization

  • 박시나 (울산대학 전기전자정보시스템공학과) ;
  • 노영식 (울산대학 전기전자정보시스템공학과) ;
  • 최원태 (울산대학 전기전자정보시스템공학과) ;
  • 홍현주 (케피코(주))
  • Park, Shi-Na (School of Electric-Electronic Information System Engineering University of Ulsan) ;
  • Ro, Young-Shick (School of Electric-Electronic Information System Engineering University of Ulsan) ;
  • Choi, Won-Tai (School of Electric-Electronic Information System Engineering University of Ulsan) ;
  • Hong, Hyun-Ju (KEFICO)
  • 발행 : 2005.10.28
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초록

To make the autonomous mobile robot move in the unknown space, we have to know the information of current location of the robot. So far, the location information that was obtained using Encoder always includes Dead Reckoning Error, which is accumulated continuously and gets bigger as the distance of movement increases. In this paper, we analyse the effect of the size of the two wheels of the mobile robot and the wheel track of them among the factors of Dead Reckoning Error. And after this, we compensate this Dead Reckoning Error by Kalman filter using Gyro Sensors. To accomplish this, we develop the controller to analyse the error components of Gyro Sensor and to minimize the error values. We employ the numerical approach to analyse the error components by linearizing them because each error component is nonlinear. And we compare the improved result through simulation.

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