Navigation stabilization technology of mobile robot based on compass and gyro

Author

Dan, Zou ; Jisheng, Zhang ; Guohua, Han ; Jie, Yang

Author_Institution

China Ordnance Equip. Group, Beijing, China

fYear

2009

fDate

17-19 June 2009

Firstpage

2334

Lastpage

2337

Abstract

When mobile robot navigated by line, it always deflected from the appointed direction. The navigation stabilization technology was researched based on sensors information of compass and gyro. The navigation stabilization control system model was developed based on robot kinematic model. The incremental PID method was designed for navigation stabilization. The navigation error was analyzed by simulation and experiment. Consequently, the control method was validated, and established foundation of robot application.

Keywords

compasses; control system synthesis; gyroscopes; mobile robots; path planning; robot kinematics; sensors; stability; three-term control; compass system; control method; gyro system; incremental PID design method; mobile robot navigation error; navigation stabilization technology; robot kinematic model; sensor information; Analytical models; Computer errors; Control system synthesis; Design methodology; Error analysis; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; compass; gyro; kinematic model; mobile robot; navigation stabilization;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2009. CCDC '09. Chinese

Conference_Location

Guilin

Print_ISBN

978-1-4244-2722-2

Electronic_ISBN

978-1-4244-2723-9

Type

conf

DOI

10.1109/CCDC.2009.5192769

Filename

5192769