IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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A Design of a Simplified Hybrid Navigation System for a Mobile Robot by Using Kalman Filter

칼만 필터를 이용한 이동 로봇의 간이 복합 항법 시스템 설계

  • Received : 2014.05.12
  • Accepted : 2014.07.29
  • Published : 2014.10.31
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Abstract

In this paper, a simple version of the hybrid navigation system using Kalman filter is proposed. The implemented hybrid navigation system is composed of a GPS to measure the position and the velocity, and a IMU(inertial measurement unit) to measure the acceleration and the posture of a mobile robot. A discrete Kalman filter is applied to provide the position of the robot by fusing both of the sensor data. When GPS signal is available, the navigation system estimates the position of the robot from the Kalman filter using position and velocity from GPS, and acceleration from IMU. During the interval until next GPS signal arrives, the system calculates the position of the robot using acceleration from IMU and velocity obtained at the previous step. Performance of the navigation system is verified by comparing the real path and the estimated path of the mobile robot. From experiments, we conclude that the navigation system is acceptable for the mobile robot.

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References

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