Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Complementary Filtering for the Self-Localization of Indoor Autonomous Mobile Robots

실내 자율형 주행로봇의 자기위치 추정을 위한 보상필터 설계

  • Received : 2010.06.08
  • Accepted : 2010.08.03
  • Published : 2010.11.01
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Abstract

This paper present an effective complementary filtering method using encoder and gyro sensors for the self-localization(including heading and velocity) of indoor mobile robot. The main idea of the proposed approach is to find the pros and cons of each sensor through a various maneuvering tests and to design of an adaptive complementary filter that works for the entire maneuvering phases. The proposed method is applied to an indoor mobile robot and the performances are verified through extensive experiments.

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References

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