|제목(국문)||실내 자율형 주행로봇의 자기위치 추정을 위한 보상필터 설계|
|제목(영문)||Complementary Filtering for the Self-Localization of Indoor Autonomous Mobile Robots|
(Jae Won Han
황종현 (Jong Hyon Hwang ,Sejong University ) ▷공저자네트워크등록하기
홍성경 (Sung Kyoung Hong ,Sejong University ) ▷공저자네트워크등록하기
류영선 (Young-sun Ryuh ,Korea Institute of Industrial Technology ) ▷공저자네트워크등록하기
This paper present an effective complementary filtering method using encoder and gyro sensors for the self-localization(including heading and velocity) of indoor mobile robot. The main idea of the proposed approach is to find the pros and cons of each sensor through a various maneuvering tests and to design of an adaptive complementary filter that works for the entire maneuvering phases. The proposed method is applied to an indoor mobile robot and the performances are verified through extensive experiments.
|keyword||self-localization, encoder, gyro, sensor fusion, complementary filter, indoor mobile robots|