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

  • 제15권2호
  • /
  • Pages.132-138
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  • 2009
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  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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마그네틱 콤파스 기반의 전 방향 로봇의 방위각 제어

Azimuth Tracking Control of an Omni-Directional Mobile Robot(ODMR) Using a Magnetic Compass

  • 이정형 (충남대학교 BK21 메카트로닉스그룹) ;
  • 정슬 (충남대학교 BK21 메카트로닉스그룹)
  • 발행 : 2009.02.01
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초록

In this paper, control of an omni-directional mobile robot is presented. Relying on encoder measurements to define the azimuth angle yields the dead-reckoned situation which the robot fails in localization. The azimuth angle error due to dead-reckoning is compensated and corrected by the magnetic compass sensor. Noise from the magnetic compass sensor has been filtered out. Kinematics and dynamics of the omni-directional mobile robot are derived based on the global coordinates and used for simulation studies. Experimental studies are also conducted to show the correction by the magnetic compass sensor.

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참고문헌

  1. O. Diege, A. Badve, G Bright, J. Potgieter, and S. Tlale, "Improved Mecanum Wheel Design for Omni-direction Robots," Australasian Conference on Robotics and Automation, pp.1l7-121.Nov.2002
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