Title :
Dead reckoning navigation for an autonomous mobile robot using a differential encoder and a gyroscope
Author :
Park, KyuCheol ; Chung, Hakyoung ; Choi, Jongbin ; Lee, Tang Gyu
Author_Institution :
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
Abstract :
Dead reckoning navigation algorithm using a differential encoder and a gyroscope is proposed for an autonomous mobile robot (AMR). The indirect Kalman filter which feeds back the error estimates to the main navigation algorithm mutually compensates the differential encoder errors and the gyroscope errors. The experimental results show that the proposed AMR navigation algorithm provides the reliable position and heading of the AMR without any external positioning system
Keywords :
Kalman filters; encoding; error compensation; gyroscopes; inertial navigation; mobile robots; path planning; autonomous mobile robot; dead reckoning; differential encoder; error compensation; error estimation; gyroscope; indirect Kalman filter; Accelerometers; Angular velocity; Automatic control; Dead reckoning; Equations; Gyroscopes; Instruments; Mobile robots; Navigation; Stochastic systems;
Conference_Titel :
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-4160-0
DOI :
10.1109/ICAR.1997.620219
