대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

자이로 센서를 이용한 이동로봇 Odometry 오차 보정에 관한 연구

Odometry Error Correction with a Gyro Sensor for the Mobile Robot Localization

  • 박시나 (울산대학교 전기전자정보시스템) ;
  • 홍현주 (울산대학교 전기전자정보시스템공학부) ;
  • 최원태 (케피코(주))
  • 발행 : 2006.02.01
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초록

To make the autonomous mobile robot move in the unknown space, we have to know the information of current location of the robot. So far, the location information that was obtained using Encoder always includes Dead Reckoning Error, which is accumulated continuously and gets bigger as the distance of movement increases. In this paper, we analyse the effect of the size of the two wheels of the mobile robot and the wheel track of them among the factors of Dead Reckoning Error. And after this, we compensate this Dead Reckoning Error by Kalman filter using Gyro Sensors. To accomplish this, we develop the controller to analyse the error components of Gyro Sensor and to minimize the error values. We employ the numerical approach to analyse the error components by linearizing them because each error component is nonlinear. And we compare the improved result through simulation.

키워드

참고문헌

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