DocumentCode
2132316
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
fYear
1997
fDate
7-9 Jul 1997
Firstpage
441
Lastpage
446
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location
Monterey, CA
Print_ISBN
0-7803-4160-0
Type
conf
DOI
10.1109/ICAR.1997.620219
Filename
620219
Link To Document