Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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Localization with Two Optical Flow Sensors for Small Unmanned Ground Vehicles

두 개의 광류센서를 이용한 소형무인로봇의 위치 추정 기술

  • Received : 2013.02.18
  • Accepted : 2013.03.15
  • Published : 2013.04.05
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Abstract

Localization is very important for the autonomous navigation of Unmanned Ground Vehicles; however, it is difficult that they have a precise Inertial Navigation System(INS) sensor, especially Small Unmanned Ground Vehicle(SUGV). Moreover, there are some condition such as denial of global position system(GPS), GPS/INS integrated system is not robust. This paper proposes the estimation algorithm with optical flow sensor and INS. Being compared with previous researches, the proposed algorithm is suitable for skid steering vehicles. We revised the measurement model of previous research for the accuracy of side direction position. Experimental results were performed to verify the algorithm, and the result showed an excellent performance.

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References

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