Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Improvement of Heading Error Using a Wavelet De-noising Filter for Indoor Mobile Robots: Application to MEMS Gyro

웨이블렛 디노이징 필터를 이용한 실내 이동로봇의 방위오차 개선연구: MEMS 자이로 적용

  • 배진형 (세종대학교 항공우주공학과) ;
  • 홍성경 (세종대학교 항공우주공학과)
  • Published : 2008.09.01
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Abstract

To achieve the challenges of low-cost MEMS gyros for the precise self-localization of mobile robots, this paper examines an effective method of minimizing the drift on the heading angle that relies solely on integration of rate signals from a gyro. The main idea of the proposed approach is to use wavelet de-noising filter in order to reduce random noise which affects short-term performances. The proposed method was applied to Epson XV3500 gyro and the performances are verified by the comparisons with an existing commercial gyro module of vacuum cleaning robots.

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References

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Cited by

  1. Minimal-drift heading measurement using a MEMS gyro for mobile robots: Fused with odometry vol.10, pp.5, 2012, https://doi.org/10.1007/s12555-012-0517-z
  2. Augmentation of Enhanced HDR Utilizing Encoder to Estimate Yaw-Angle of Cleaning Robots vol.13, pp.2, 2016, https://doi.org/10.5772/62484