DOI QR코드

DOI QR Code

A Study on Development of a Reconfigurable Mobile Robot and Dead-Reckoning Using Extended Kalman Filter

가변구조형 주행로봇 개발 및 확장형 칼만필터를 이용한 추측 항법에 대한 연구

  • Published : 2009.05.01

Abstract

This paper presents design concepts of a reconfigurable mobile robot for both of indoor and outdoor applications. A linkage mechanism and wheel-in-motors give the proposed mobile robot various driving modes in maneuver and good adaptability to irregular surface. Since the mobile robot receives multiple sensor signals from odometers and an orientation sensor, states related to the position and the orientation of the mobile robot are optimally estimated by an extended Kalman filter. Simulations and experimental results show that the performance of dead reckoning on estimating the pose of a mobile robot can be improved remarkably by the optimal state observer.

Keywords

Reconfigurable;Mobile Robot;Adaptability;Extended Kalman Filter; Dead Reckoning

References

  1. Park, In-Gyu and Kim, Jin-Geol, 2000, 'Dynamic Walking Planning and Inverse Dynamic Analysis Of Biped Robot,' J. of KSPE, Vol. 17, No. 9, pp. 133-144
  2. Siegwart, R. and Nourbakhsh, I. R., 2004, Autonomous Mobile Robot, chapter 2, MIT Press
  3. Mourioux, G., Novales, C., Poisson, G. and Vieyres, P., 2006, 'Omni-Directional Robot with Spherical Orthogonal Wheels: Concepts and Analyses,' Proc. IEEE Int. Conf. on Robotics and Automation, Orlando, USA, pp. 3374-3379 https://doi.org/10.1109/ROBOT.2006.1642217
  4. Wada, M. and Mori, S., 1996, 'Holonomic and Omnidirectional Vehicle with Conventional Tires,' Proc. IEEE Int. Conf. on Robotics and Automation, Minneapolis, USA, pp. 3671-3676
  5. Grand, Ch., BenAmar, F., Plumet, F. and Bidaud, Ph., 2004, 'Decoupled Control of Posture and Trajectory of the Hybrid Wheel-Legged Robot Hylos,' Proc. IEEE Int. Conf. on Robotics and Automation, Albuquerque, USA, pp. 5111-5116 https://doi.org/10.1109/ROBOT.2004.1302528
  6. Watanabe, Y. and Yuta, S., 1990, 'Estimation of Position and Its Uncertainty in Dead Reckoning System of the Wheeled Mobile Robot,' Proc. of 20th ISIR, Tokyo, Japan, pp. 205-212
  7. Komoriya, K. and Oyama, E., 1994, 'Position Estimation of a Mobile Robot Using Optical Fiber Gyroscope,' Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Munich, German, pp. 143-149 https://doi.org/10.1109/IROS.1994.407398
  8. Wang, C. M., 1988 'Location Estimation and Uncertainty Analysis for Mobile Robots,' Proc. Proc. IEEE Int. Conf. on Robotics and Automation, St. Louis, USA, pp. 1230-1235 https://doi.org/10.1109/ROBOT.1988.12229
  9. Grewal, M. S. and Andrews, A. P., 2001, Kalman Filtering-Theory and Practice using MATLAB-, John Wisley & Sons
  10. Lim, Sung-Kyun, Park, Dong-Il, Kwak, Yoon-Keun, Kim, Byung-Soo and Jeon, Sang-Won, 2005, 'Variable Geometry Single-Tracked Mechanism for a Rescue Robot,' Proc. IEEE Int. Workshop on Safety, Security and Rescue Robotics, Kobe, Japan, pp. 111-115 https://doi.org/10.1109/SSRR.2005.1501231
  11. Maurette, M., 2003, 'Mars Rover Autonomous Navigation,' Autonomous Robots, Vol. 14, No. 2., pp. 199-208 https://doi.org/10.1023/A:1022283719900
  12. Park, Kyu-Cheol, Chung, Hak-young, Choi, Jong-bin and Lee, Jang-Gyu, 1997, 'Dead Reckoning Navigation for an Autonomous Mobile Robot Using a Differential Encoder and a Gyroscope,' Proc. IEEE Int. Conf. on Robotics and Automation, Monterey, USA, pp. 441-446 https://doi.org/10.1109/ICAR.1997.620219

Cited by

  1. Comparison of Acceleration-Compensating Mechanisms for Improvement of IMU-Based Orientation Determination vol.40, pp.9, 2016, https://doi.org/10.3795/KSME-A.2016.40.9.783