• 제목/요약/키워드: dead reckoning

검색결과 194건 처리시간 0.025초

네트워크 가상환경에서 경로예측에 의한 동적 데이터 공유 (Path Prediction-based Dynamic Data Sharing in Network Virtual Environment)

  • 송선희;나상동
    • 한국통신학회논문지
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    • 제31권10C호
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    • pp.956-963
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    • 2006
  • 네트워크 가상 환경에서 다중 참여자 일관성 유지와 3D 장면의 동적데이터 공유를 연구한다. 클라이언트-서버구조의 분산 가상환경에서 일관성은 상태정보 교환으로 유지되며, 교환되는 동적데이터의 갱신메시지가 자주 브로드캐스트 되면 패킷 지연에 의한 jerk를 일으키므로 데드레커닝 알고리즘을 이용한 이동경로를 예측하여 네트워크 병목을 줄인다. 동적데이터 경로예측은 데드레커닝 수렴간격의 타당성을 실험하여 공유객체 위치를 근거로 예측값과 실제 상태 값과의 오차가 한계값 이상일 때 이전 위치를 보간하고, VRML EAI를 이용하여 3D 가상공간의 동적 데이터 공유를 구현한다.

멀티센서 데이터 융합에 의한 차륜형 이동체 위치추정시스템의 정도 개선에 관한 연구 (A Study on the Improvement of the Accuracy of a Wheeled Vehicle Positioning System by Multisensor Data Fusion)

  • 최진규;하윤수
    • Journal of Advanced Marine Engineering and Technology
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    • 제24권1호
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    • pp.119-126
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    • 2000
  • In constructing the positioning system based on a conventional dead-reckoning for a wheeled vehicle with pneumatic tires, the position estimation error is inevitable as changes of the radius of the wheels depend on live load and variable enviroment. Therefore, this paper proposes the positioning system which can estimate the error source i.e. the vehicle parameter errors, such as the right and left wheel radius error, using gyroscope and ultrasonic sensor and correct the parameter to reduce the dead-reckoned position estimation error. The extended Kalman filter was used as a method for the multisensor data fusion. The simulation to verify the effectiveness of the proposed positioning system is performed.

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센서 융합기반의 추측항법을 통한 야지 주행 이동로봇의 위치 추정 및 제어 (Localization and Control of an Outdoor Mobile Robot Based on an Estimator with Sensor Fusion)

  • 전상운;정슬
    • 대한임베디드공학회논문지
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    • 제4권2호
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    • pp.69-78
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    • 2009
  • Localization is a very important technique for the mobile robot to navigate in outdoor environment. In this paper, the development of the sensor fusion algorithm for controlling mobile robots in outdoor environments is presented. The multi-sensorial dead-reckoning subsystem is established based on the optimal filtering by first fusing a heading angle reading data from a magnetic compass, a rate-gyro, and two encoders mounted on the robot wheels, thereby computing the dead-reckoned location. These data and the position data provided by a global sensing system are fused together by means of an extended Kalman filter. The proposed algorithm is proved by simulation studies of controlling a mobile robot controlled by a backstepping controller and a cascaded controller. Performances of each controller are compared.

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자이로스코프와 차등 엔코더를 사용한 이동로보트의 추측항법 시스템 (Dead reckoning navigation system for autonomous mobile robot using a gyroscope and a differential encoder)

  • 박규철;정학영;이장규
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.241-244
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    • 1997
  • A dead reckoning navigation system is developed for autonomous mobile robot localization. The navigation system was implemented by novel sensor fusion using a Kalman filter. A differential encoder and the gyroscope error models are developed for the filter. An indirect Kalman filter scheme is adopted to reduce the computational burden and to enhance the navigation system reliability. The filter mutually compensates the encoder errors and the gyroscope errors. The experimental results show that the proposed mobile . robot navigation algorithm provides the reliable position and heading angle of the mobile robot without any help of the external positioning systems.

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Exploring Smartphone-Based Indoor Navigation: A QR Code Assistance-Based Approach

  • Chirakkal, Vinjohn V;Park, Myungchul;Han, Dong Seog
    • IEIE Transactions on Smart Processing and Computing
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    • 제4권3호
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    • pp.173-182
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    • 2015
  • A real-time, Indoor navigation systems utilize ultra-wide band (UWB), radio-frequency identification (RFID) and received signal strength (RSS) techniques that encompass WiFi, FM, mobile communications, and other similar technologies. These systems typically require surplus infrastructure for their implementation, which results in significantly increased costs and complexity. Therefore, as a solution to reduce the level of cost and complexity, an inertial measurement unit (IMU) and quick response (QR) codes are utilized in this paper to facilitate navigation with the assistance of a smartphone. The QR code helps to compensate for errors caused by the pedestrian dead reckoning (PDR) algorithm, thereby providing more accurate localization. The proposed algorithm having IMU in conjunction with QR code shows an accuracy of 0.64 m which is higher than existing indoor navigation techniques.

인코더 트레일러를 이용한 이동로봇의 위치 추정 (Position Estimation of Wheeled Mobile Robot using Encoder Trailer)

  • 최종석;김병국
    • 제어로봇시스템학회논문지
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    • 제5권3호
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    • pp.306-313
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    • 1999
  • To measure the accurate position of mobile robot, dead-reckoning method using the encoder attached to each wheel is conventionally used, since it is easy to compute and inexpensive to develop. However, that method is useless when slip occurs and error is accumulated with time. This paper proposes a position estimation method using encoder trailer composed of 2 encoders only(ET-2). This method provides accurate position information even when slip occurs, and can reduce accumulated error if we select the proper link lengths of encoder trailer. Experimental results show the performance of ET-2 when slip occurs. Finally, accumulated systematic error from encoder resolution is analyzed in comparison with an existing method with encoder trailer composed of 3 encoders. (As a matter of convenience, we will call the existing encoder trailer ‘ET-3’)

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뉴튼의 평행법칙을 이용한 차동구동 이동로봇의 동력학 모델링 구현 (Realization of Differential Drive Wheeled Mobile Robot Dynamic Modeling Using Newton's Equilibrium law)

  • 정용욱;정구섭
    • 로봇학회논문지
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    • 제5권4호
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    • pp.349-358
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    • 2010
  • We presents a dynamic modeling of 4-wheel 2-DOF. WMR. The classic dynamic model utilizes a greatly simplified wheel motion representation and using of a simplified dynamic model confronts with a problem for accurate position control of wheeled mobile robot. In this paper, we treats the dynamic model for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed dynamic model is useful. We can be easily extend the proposed WMR model to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.

이동로봇을 위한 RFID tag 기반의 위치 오차 보정 기법 (A Position Error Revision Techniques of RFID tag Base for Mobile Robot)

  • 최종훈;정대섭;정기호;심현민;권오상;이응혁
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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    • pp.560-562
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    • 2006
  • In this paper, Correct problem in dead reckoning system and proposed about position error revision techniques of mobile robot to use RFID tag for position awareness. With the dead reckoning system, as the accumulation of error are unavoidable because of accumulation of informations as the time passage, so it is impossible to get correct information about posture, including torrent direction, movement distance, etc. As one of compensation method, the suggested method is that after selecting special area (corridor), compensate absolute location information by arranging two line of RFID tag along two side of corridor. Through this suggested method, it could be used when robot wants to move in limited areas.

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Path Planning based on Geographical Features Information that considers Moving Possibility of Outdoor Autonomous Mobile Robot

  • Ibrahim, Zunaidi;Kato, Norihiko;Nomura, Yoshihiko;Matsui, Hirokazu
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.256-261
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    • 2005
  • In this research, we propose a path-planning algorithm for an autonomous mobile robot using geographical information, under the condition that the robot moves in unknown environment. All image inputted by camera at every sampling time are analyzed and geographical elements are recognized, and the geographical information is embedded in environmental map. The geographical information was transformed into 1-dimensional evaluation value that expressed the difficulty of movement for the robot. The robot goes toward the goal searching for path that minimizes the evaluation value at every sampling time. Then, the path is updated by integrating the exploited information and the prediction on unexploited environment. We used a sensor fusion method for improving the mobile robot dead reckoning accuracy. The experiment results that confirm the effectiveness of the proposed algorithm on the robot's reaching the goal successfully using geographical information are presented.

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Implementation of underwater precise navigation system for a remotely operated mine disposal vehicle

  • Kim, Ki-Hun;Lee, Chong-Moo;Choi, Hyun-Taek;Lee, Pan-Mook
    • International Journal of Ocean System Engineering
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    • 제1권2호
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    • pp.102-109
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    • 2011
  • This paper describes the implementation of a precise underwater navigation solution using a multiple sensor fusion technique based on USBL, GPS, DVL and AHRS measurements for the operation of a remotely operated mine disposal vehicle (MDV). The estimation of accurate 6DOF positions and attitudes is the key factor in executing dangerous and complicated missions. To implement the precise underwater navigation, two strategies are chosen in this paper. Firstly, the sensor frame alignment to the body frame is conducted to enhance the performance of a standalone dead-reckoning algorithm. Secondly, absolute position data measured by USBL is fused to prevent cumulative integration error. The heading alignment error is identified by comparing the measured absolute positions with the DR algorithm results. The performance of the developed approach is evaluated with the experimental data acquired by MDV in the South-sea trial.