Title :
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
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;
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
DOI :
10.1109/CCDC.2009.5192769
