A Study on Estimation of a Mobile Robot's Position Using Neural Network

신경회로망을 이용한 이동로보트의위치 추정에 관한 연구

For navigation of a mobile robot, it is one of the essential tasks to find out its current position. Dead reckonining is the most frequently used method to estimate its position. Hpwever conventional dead reckoner is prone to give us false information on the robot position especially when the wheels are slipping. This paper proposes an improved dead reckoning scheme using neural networks. The network detects the instance of wheel slopping and estimates the linear velocity of the wheel; thus it calculates current position and heading angle of a mobile robot. The structure and variables of the nerual network are chosen in consideration of slip motion characteristics. A series of experiments are performed to train the networks and to investigate the performance of the improved dead reckoning system.