관성항법시스템을 이용한 구륜 이동 로보트의 위치제어에 관한 연구

A study on position control of wheeled mobile robot using the inertial navigation system

This paper presents WMR modelling and path tracking algorithm using Inertial Navigation System. The error models of gyroscope and accelerometers in INS are derived by Gauss-Newton method which is nonlinear regression model. Then, to test availability of error model, we pursue the fitness diagnosis about probability characteristic for real data and estimated data. Performance of inertial sensor with error model and Kalman filter is pursued by comparing with one without them. The computer simulation shows that position error remarkably decrease when error compensation is applied.