IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Localization and Control of an Outdoor Mobile Robot Based on an Estimator with Sensor Fusion

센서 융합기반의 추측항법을 통한 야지 주행 이동로봇의 위치 추정 및 제어

  • 전상운 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2009.05.01
  • Accepted : 2009.06.12
  • Published : 2009.06.30
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Abstract

Localization is a very important technique for the mobile robot to navigate in outdoor environment. In this paper, the development of the sensor fusion algorithm for controlling mobile robots in outdoor environments is presented. The multi-sensorial dead-reckoning subsystem is established based on the optimal filtering by first fusing a heading angle reading data from a magnetic compass, a rate-gyro, and two encoders mounted on the robot wheels, thereby computing the dead-reckoned location. These data and the position data provided by a global sensing system are fused together by means of an extended Kalman filter. The proposed algorithm is proved by simulation studies of controlling a mobile robot controlled by a backstepping controller and a cascaded controller. Performances of each controller are compared.

Keywords

References

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