Title :
Position control of wheeled mobile robot using the inertial navigation system
Author :
Chongkug Park ; Pungryeoul Park ; Harashima, F.
Author_Institution :
Dept. of Electron. Eng., Kyung Hee Univ., Seoul, South Korea
Abstract :
Summary form only given. This paper presents the position control algorithm of a wheeled mobile robot (WMR) using an inertial navigation system (INS) and Kalman filter to realize it for an actual system. To adopt the INS in a control system, an error model is essentially required. This INS error model is derived by a Gauss-Newton method and it is tested by fitness diagnosis to check its availability. The position control algorithm including an INS and a Kalman filter with error model is pursued by computer simulation. The simulation study of the proposed scheme shows that position errors remarkably decrease when this INS and filter system are applied.
Keywords :
Kalman filters; Newton method; inertial navigation; mobile robots; position control; Gauss-Newton method; Kalman filter; error model; fitness diagnosis; inertial navigation system; position control; wheeled mobile robot; Computer errors; Control system synthesis; Error correction; Inertial navigation; Least squares methods; Mobile robots; Newton method; Position control; Recursive estimation; Testing;
Conference_Titel :
Advanced Intelligent Mechatronics '97. Final Program and Abstracts., IEEE/ASME International Conference on
Conference_Location :
Tokyo, Japan
Print_ISBN :
0-7803-4080-9
DOI :
10.1109/AIM.1997.652990
