Journal of information and communication convergence engineering

  • 제8권6호
  • /
  • Pages.709-715
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  • 2010
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  • 2234-8255(pISSN)
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  • 2234-8883(eISSN)
한국정보통신학회 (The Korea Institute of Information and Commucation Engineering)
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A Correction System of Odometry Error for Map Building of Mobile Robot Based on Sensor fusion

  • 투고 : 2010.10.04
  • 심사 : 2010.11.06
  • 발행 : 2010.12.31
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초록

This paper represents a map building and localization system for mobile robot. Map building and navigation is a complex problem because map integrity cannot be sustained by odometry alone due to errors introduced by wheel slippage, distortion and simple linealized odometry equation. For accurate localization, we propose sensor fusion system using encoder sensor and indoor GPS module as relative sensor and absolute sensor, respectively. To build a map, we developed a sensor based navigation algorithm and grid based map building algorithm based on Embedded Linux O.S. A wall following decision engine like an expert system was proposed for map building navigation. We proved this system's validity through field test.

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참고문헌

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