A study for tracking directional compensation in a mobile robot by the gyro sensor

Gyro를 이용한 이동 로보트의 주행 방향각 보상에 관한 연구

Generally, The position of mobile robot moving on the plane is measured by the method of dead reckoning, using the encoder system coupled on a wheel axis. But it is noted that the encoder system cannot check the slip of a wheel, often occurring in tracking of the mobile robot. In this study, using velocity angular velocity sensor with a tuning fork vibration system, the system is developed which can measure the directional angle of positional variables on the mobile robot. By measuring the variations of tracking direction mobile robot equipped with this system, following result is found; In spite of the slip at a wheel when measuring the tracking directional angle, the error occurs in the range of .+-. 1 (degree).