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http://dx.doi.org/10.5391/JKIIS.2014.24.2.123

Magnetic Guidance Vehicle using Up-and-down Rotating Type Differential Drive Unit  

Song, Hajun (Department of Electrical and Computer Engineering, Pusan National University)
Cho, Hyunhak (Department of Interdisciplinary Cooperative Course : Robot, Pusan National University)
Kim, Sungshin (Department of Electrical and Computer Engineering, Pusan National University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.24, no.2, 2014 , pp. 123-128 More about this Journal
Abstract
This paper presents the study about MGV(Magnetic guidance vehicle) with up-and-down rotating type differential drive unit. Previous MGV needs the landmarks to get the driving information and additional sensor to recognize the landmarks except for localization sensor. Previous MGV requires at least 2 drive units when common fixed differential drive unit is used because it occurs the problems with driving control and localization error from imbalance of the MGV's weight. To solve such problems, we propose the MGV using up-and-down rotating type differential drive unit. Proposed MGV recognizes the driving information from the pattern which is consisted of both pole of magnet without landmarks and additional sensors, and it control the backward movement using up-and-down rotating type differential drive unit instead of common drive units. Proposed MGV considers KF(Kalman filter) to improve the localization accuracy. To verify the performance of proposed method, we designed MGV for the experiment. As the results, we can confirm the performance of propoesed method to recognize the pattern and to control the backward movement. With respect to localization, proposed method has the less RMSE about 5.6904 mm than previous method.
Keywords
MGV; Kalman filter; Magnetic guided sensor; Backward movement; Pattern recognition;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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