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http://dx.doi.org/10.6109/jkiice.2016.20.2.385

Position estimation method based on the optical displacement sensor for an autonomous hull cleaning robot  

Kang, Hoon (Ultimate Manufacturing Technology Group, Korea Institute of Industrial Technology)
Ham, Youn-jae (Dong-Hyun Systech co.,LTD.)
Oh, Jin-seok (Division of Marin Engineering, Korea Maritime and Ocean University)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.20, no.2, 2016 , pp. 385-393 More about this Journal
Abstract
This paper presents the new position estimation method which contains the optical displacement sensor and the dead reckoning based position estimation algorithm for automation of hull cleaning robot. To evaluate feasibility of the proposed position estimation method on the hull cleaning robot, it was applied on the small scale robot model which has an identical drive method with the hull cleaning robot and then a set of the position estimation experiments were performed. The experimental results of the position estimation demonstrate that the estimated results with the optical displacement sensors is more accurate than used rotary encoder method. In addition, it continuously calculated the robot position quite close to the real robot driving path. In a follow-up study, the proposed position estimation method will be complemented and exploited on the actual hull cleaning robot by adding additional sensor modules that correct measurement errors.
Keywords
Hull cleaning robot; position estimation; optical displacement sensor; dead reckoning; skid steering;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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