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A Study on the Compensating of the Dead-reckoning Based on SLAM Using the Inertial Sensor  

Kang, Shin-Hyuk (Dept. of Electronic Engineering, Korea Polytechnic Univ.)
Jang, Mun-Suck (Dept. of Electronic Engineering, Inha University)
Lee, Dong-Kwang (Dept. of Electronic Engineering, Korea Polytechnic Univ.)
Lee, Eung-Hyuk (Dept. of Electronic Engineering, Korea Polytechnic Univ.)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.46, no.2, 2009 , pp. 28-35 More about this Journal
Abstract
Positioning technology which a part technology of Mobile Robot is an essential technology to locate the position of Robot and navigate to wanted position. The Robot that based on wheel drive uses Odometry position. technology. But when using Odometry positioning technology, it's hard to find out constant error value because a slip phenomenon occurs as the Robot runs. In this paper, we present the way to minimize positioning error by using Odometry and Inertial sensor. Also, the way to reduce error with Inertial sensor on SLAM using image will be shown, too.
Keywords
Dead-reckoning; Inertial Sensor; SLAM; Mobile Robot;
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Times Cited By KSCI : 2  (Citation Analysis)
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