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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Improved Yaw-angle Estimation Filter as a Function of the Actual Maneuvers for a Cleaning Robot

주행조건 식별을 이용한 로봇청소기의 진행각 추정을 위한 향상된 필터설계

  • Received : 2016.01.14
  • Accepted : 2016.04.20
  • Published : 2016.06.01
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Abstract

This paper proposes a practical algorithm for the reduction of measurement errors due to drift in a micro-electromechanical system (MEMS) gyros that are used for a mobile robot. Any drift in a MEMS gyro will cause an unbounded growth of errors in the estimation of heading, which makes it nearly useless in applications that require high accuracy over a long operating time. In proposed method, maneuvers of a cleaning robot are observed through encoders' measurement process and a decision to correct bias drift will be made if necessary. The method used in this paper is called the "heading estimation filter". To evaluate the accuracy of the proposed method, a comparison was made between the estimation of the heading of the cleaning robot and one from a motion capture system.

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References

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