Design of Navigation Controller for Autonomous Mobile Robots using Kalman Filter

칼만필터를 사용한 자율주행로봇의 항법제어기 설계

When it is used for autonomous mobile robots by using dead-reckoning system, odometry system with encorder is the simplest method as well as well-known in the industry. However, odometry system is reflected slide, friction and mechanical errors of wheels when operating the position estimation. And also in order to minimize errors of direction angle which is the most important factor that it is designed the controller in controlling kinematics and quadratic curve, PID that came into the values of sensor fusion with encorder and gyroscope sensor. After designing, the autonomous mobile robot is producted practically and inspected how it works.