제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.64.4-64
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- 2001
UTV localization from fusion of Dead -reckoning and LBL System
- Woon, Jeon-Sang (KARI) ;
- Jung Sul (KARI) ;
- Cheol, Won-Moon (KARI) ;
- Hong Sup (KARI)
- Published : 2001.10.01
Abstract
Localization is the key role in controlling the Mobile Robot. In this papers, a development of the sensor fusion algorithm for controling UTV(Unmanned Tracked Vehicle) is presented. The multi-sensocial dead-rocking subsystem is established based on the optimal filtering by first fusing heading angle reading from a magnetic compass, a rate-gyro and two encoders mouned on the robot wheels, thereby computing the deat-reckoned location. These data and the position data provoded by LBL system are fused together by means of an extended Kalman filter. This algorithm is proved by simulation studies.
Keywords