Browse > Article
http://dx.doi.org/10.5391/JKIIS.2011.21.5.667

Sensor Fusion of Localization using Unscented Kalman Filter  

Lee, Jun-Ha (부산대학교 로봇협동관련과정)
Jung, Kyung-Hoon (부산대학교 로봇협동과정)
Kim, Jung-Min (부산대학교 전자전기공학과)
Kim, Sung-Shin (부산대학교 전자전기공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.21, no.5, 2011 , pp. 667-672 More about this Journal
Abstract
This paper presents to study the sensor fusion of positioning sensors using UKF(unscented Kalman filter) for positioning accuracy improvement of AGV(automatic guided vehicle). The major guidance systems for AGV are wired guidance and magnetic guidance system. Because they have high accuracy and fast response time, they are used in most of the FMS(flexible manufacturing system). However, they had weaknesses that are high maintenance cost and difficult of existing path modification. they are being changed to the laser navigation in recent years because of those problems. The laser navigation is global positioning sensor using reflecters on the wall, and it have high accuracy and easy to modify the path. However, its response time is slow and it is influenced easily by disturbance. In this paper, we propose the sensor fusion method of the laser navigation and local sensors using UKF. The proposed method is improvement method of accuracy through error analysis of sensors. For experiments, we used the axle-driven forklift AGV and compared the positioning results of the proposed method with positioning results of the laser navigation. In experimental result, we verified that the proposed method can improve positioning accuracy about 16%.
Keywords
AGV; localization; sense fusion; laser navigation; UKF;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
연도 인용수 순위
1 E. A. Wan and R. Van Der Merwe, "The Unscented Kalman Filter for Nonlinear Estimation," Proceedings of Symposium 2000 on Adaptive Systems for Signal Processing (AS-SPCC), pp.153-158, 2000.
2 D. Lee and K. T. Alfriend. "Precise Real-Time Orbit Estimation Using The Unscented Kalman Filter," Advances in the Astronautical Sciences, Vol. 114, No. 3, pp. 1853-1872, 2003.
3 J. A. Castellanos, R. Martinez-Cantin, J. D. Tardos and J. Neira, "Robocentric map joining: Improving the Consistency of EKF-SLAM," Robotics and Autonomous Systems, Vol. 55, No. 1, pp. 21-29, 2007.   DOI   ScienceOn
4 S. J. Julier and J. K. Uhlmann, "A New Extension of the Kalman Filter to Nonlinear System," 11th Int Symposium Aerospace/ Defense Sensing, Vol. 3068, pp. 54-65, 1997.
5 B. Ristic, S. Arulampalam and N. Gordon, "Beyond the Kalman Filter," Aritech House Publishers, pp. 115-117, 2004.
6 S. Chen, B. Mulgrew and S. McLaughlin, "Adaptive Bayesian equalizer with decision feedback," IEEE Transactions on Signal Processing, Vol. 41, pp. 2918-2927, 1993.   DOI   ScienceOn
7 S. Julier, J. Uhlmann and H. F. Durrant-Whyte, "A new method for the nonlinear transformation of means and covariances in filters and estimators," IEEE Transactions on Automatic Control, Vol. 45, No. 3, pp. 477-482, 2000.   DOI   ScienceOn
8 정경훈, 김정민, 박정제, 김성신, 배선일, "센서융합을 이용한 AGV의 라인 트레킹 방법," 한국지능시스템학회 논문지, Vol. 20, No. 1, pp. 54-59, 2010.   과학기술학회마을   DOI   ScienceOn
9 H. Durrant-Whyle and T. bailey, "Simultaneous Localization and Mapping: Part I," IEEE Robotics and Automation Magazine, Vol. 13, No. 2, pp. 99-110, 2006.
10 박정제, 김정민, 도주철, 김성신, 배선일, "레이저 유도 시스템을 이용한 AGV의 경로추적," 로봇학회논문지, Vol. 5, No. 2, pp. 120-126, 2010.
11 김정민, 박정제, 전태룡, 김성신, "퍼지와 비례 제어를 이용한 지게차 AGV의 주행제어," 한국지능시스템학회 논문지, Vol. 19, No. 5, pp. 699-705, 2009.   과학기술학회마을   DOI
12 우승범, 정경훈, 김정민, 박정제, 김성신, "중량물 운송을 위한 AGV의 주행 제어 방법," 한국지능시스템학회 논문지, Vol. 20, No. 3, pp. 394-399, 2010.   과학기술학회마을   DOI   ScienceOn
13 L. Jetto, S. Longhi and G. Venturini "Development and Experimental Validation of an Adaptive Extended Kalman Filter for the Localization of Mobile Robots," IEEE Transactions on Robotics and Automation, Vol. 15, No 5, pp. 219-229, 1999.   DOI