The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Indoor Mobile Robot Heading Detection Using MEMS Gyro North Finding Approach

MEMS Gyro North Finding 방법을 이용한 실내 이동로봇의 전방향 탐지

  • Wei, Yuan-Long (Department of Mechanical Engineering, Pusan National University) ;
  • Lee, Min-Cheol (School of Mechanical Engineering, PNU) ;
  • Kim, Chi-Yen (Division of Mechanical Engineering, Yeungnam College of Science and Technology)
  • Received : 2011.09.29
  • Accepted : 2011.11.08
  • Published : 2011.11.30
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a new approach for mobile robot heading detection using MEMS Gyro north finding method in the indoor environment. Based on this, the robot heading angle measurement scheme is proposed; improved north finding theory and algorithm are also explained. Several approaches are applied to confirm system's precision and effectiveness. In order to find out the heading angle, a single axis MEMS gyroscope to sense the angle between the robot heading direction and the north is used. To reach enough estimation accuracy and reduce detection time, the least square method (LSM) for the signal fitting and parameter estimation is applied. Through a turn-table, we setup a carouseling system to decrease the substantial bias effect on gyroscope's heading angle. For the evaluation of the proposed method, this system is implemented to the Pioneer robot platform. The performance and heading error are analyzed after the test. From the simulation and experimental results, system's accuracy, usefulness and adaptability are shown.

Keywords

References

  1. R. Siegwart, and I. R. Nourbakhsh, "Autonomou s Mobile Robots, Introduction", Cambridge: The MIT Press, London, England, 2004.
  2. S. HERNA' NDEZ, J.M. TORRES, C.A. MORALES AND L. ACOSTA, "A New Low Cost System for Autonomous Robot Heading and Position Localization in a Closed Area", Autonomous Robots 15, 99-110, 2003. https://doi.org/10.1023/A:1025550223554
  3. J. Borenstein, H. R. Everett, L. Feng, "Where am I? Sensors and Methods for Mobile Robot Positioning", Univ. of Michigan, April 1996, http://www-personal.umich.edu/-johannb/shared/pos 96rep.pdf.
  4. Taeyeon Kim, loon Lyou，"Indoor Navigation of Skid Steering Mobile Robot Using Ceiling Landmarks", IEEE International Symposium on Industrial Electronics, 2009.
  5. Ching-Chih Tsai, "A Localization System of a Mobile Robot by FusingDead-Reckoning and Ultrasonic Measurements", IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 47, NO. 5, October 1998.
  6. Lindsay Kleeman, "Optimal Estimation of Position and Heading for Mobile Robots Using Ultrasonic Beacons and Dead-reckoning", Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 1992.
  7. Hakyoung Chung, Lauro Ojeda, and Johann Borenstein, "Sensor fusion for Mobile Robot Dead-reckoningWith a Precision-calibrated Fiber Optic Gyroscope", Proceedings of the 2001 IEEEInternational Conference on Robotics 8 Automation, Seoul, Korea, May 21-26, 2001.
  8. Marc S. Weinberg, Anthony Kourepenis,"Error Sources in In-Plane Silicon Tuning-Fork MEMS Gyroscopes", Journal of Microelectromechanical Systems, June 2006.
  9. Burgess R. Johnson, EugenCabuz, Howard B. French, Ryan Supino, "Development of a MEMS Gyroscope forNorthfinding Applications", Honeywell International, 2010.
  10. Lucian loan lozan, MarttiKirkko-Jaakkola, Jussi Collin, JarmoTakala, and CorneliuRusu, "North Finding System Using a MEMS Gyroscope", Symposium Gyro Technology, Karlsruhe, Germany, 2010.
  11. VTI MEMS Gyro website about north finding application,http://www.vti.fi/en/news-events/press
  12. B. M. Renkoski, "The effect of carouseling on MEMS IMU performance for gyrocompassing applications", Thesis (S.M.), Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, June 2008.
  13. Li Denghua, Zhou Feng, Wu Xibao, "Research on two-position north-seeking method based on the Single axis FOG", Advanced Materials Research Vols. 301-303, Switzerland, 2011.
  14. Datasheet for VTI SCC1300-D02 MEMS Gyro package,http://www.vti.fi/en/products/gyroscopes/co mbined_gyroscope_and_acceleration_sensors/
  15. StephenButterworth, the Butterworth filter, http://e n.wikipedia.org/wiki/Butterworth_filter/
  16. D.W.Allan, the Allan variance,http://en.wikipedia.o rg/wiki/Allan_variance/

Cited by

  1. 이동 로봇의 서스펜션 댐핑계수 변화에 따른 장애물이 있는 경사로 주행에 관한 연구 vol.11, pp.2, 2016, https://doi.org/10.7746/jkros.2016.11.2.083