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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Indoor Navigation of a Skid Steering Mobile Robot Via Friction Compensation and Map Matching

마찰 보상과 지도 정합에 의한 미끄럼 조향 이동로봇의 실내 주행

  • So, Chang Ju (R&D Center, Higen Motors Ltd.) ;
  • Lyou, Joon (Dept. of Electronics Eng., Chungnam National University)
  • Received : 2013.02.28
  • Accepted : 2013.04.02
  • Published : 2013.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper deals with the indoor localization problem for a SSMR (Skid Steering Mobile Robot) subjected to wheel-ground friction and with one LRF (Laser Range Finder). In order to compensate for some friction effect, a friction related coefficient is estimated by the recursive least square algorithm and appended to the maneuvering command. Also to reduce odometric information based localization errors, the lines are extracted with scan points of LRF and matched with the ones of the corresponding map built in advance. The present friction compensation and scan map matching schemes have been applied to a laboratory SSMR, and experimental results are given to validate the localization performance along an indoor corridor.

Keywords

References

  1. E. J. Hwang, H. S. Kang, C. H. Hyun, and M. Park, "Robust backstepping control based on a lyapunov redesign for skid-steered wheeled mobile robots," Int. J. Adv. Robotic Systems, vol. 10, pp. 1-8, Jan. 2013. https://doi.org/10.5772/52938
  2. D. Pazderski, K. Kozlowski, and M. Law-niczak, "Practical stabilization of 4WD skid steering mobile robot," Fourth Int. Workshop on Robot Motion and Control, pp. 175-180, Jun. 2004.
  3. K. Kozlowski, D. Pazderski, I. Rudas, and J. Tar, "Modeling and control of a 4-wheel skid-steering mobile robot: From theory to practice," Int. J. Appl. Math. Comput. Sci., vol. 14, no. 4, pp. 477-496, 2004.
  4. H. J. Sohn et al., "A robust localization algorithm for mobile robots with laser range finders," Proc. IEEE Int. Conf. Robotics & Automation, pp. 3545-3550, Apr. 2005.
  5. M. Y. Choi, J. W. Choi, and W. K. Chung, "Direction augmented probabilistic scan matching for reliable localization," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 12, pp. 1234-1239, Dec. 2011. https://doi.org/10.5302/J.ICROS.2011.17.12.1234
  6. S. Y. Kim and K. S. Yoon, "Improved ultrasonic satellite system for the localization of mobile robots," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 12, pp. 1140-1247, Dec. 2011. https://doi.org/10.5302/J.ICROS.2011.17.12.1240
  7. C. J. So and J. Lyou, "Indoor localization of a skid steering mobile robot through friction compensation and scan map matching," Proc. of Daejeon & Chungcheong Regional Conference of Institute of Control, Robotics and Systems (in Korean), pp. 122-125, Dec. 2012.