Paper Title:
Development of a Reconfigurable Mobile Robot and Precise Position Estimation Based on Extended Kalman Filter
  Abstract

This paper presents design concepts of a reconfiguration mobile robot developed in Hannam University and experimental results of position estimation by multiple sensors. In order to achieve high reliability and mobility in maneuver, driving motors of the mobile robot are assembled inside the wheels of the mobile robot, and the rhombus-shaped structure of the mobile robot with four wheels yields as good adaptability to rough terrain as a six-wheel mobile robot. Since the proposed mobile robot receives multiple sensor signals from odometers and an orientation sensor, states related to position and orientation of the mobile robot are optimally calculated by the extended Kalman filter. Experimental results show that tracking errors of the mobile robot can be reduced remarkably by the optimal state observer.

  Info
Periodical
Key Engineering Materials (Volumes 326-328)
Edited by
Soon-Bok Lee and Yun-Jae Kim
Pages
1225-1228
DOI
10.4028/www.scientific.net/KEM.326-328.1225
Citation
G. H. Yeo, J. Kim, B. S. Kang, "Development of a Reconfigurable Mobile Robot and Precise Position Estimation Based on Extended Kalman Filter", Key Engineering Materials, Vols. 326-328, pp. 1225-1228, 2006
Online since
December 2006
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Hong Tang Chen, Hai Chao Li, Hong Ming Gao, Lin Wu
Mechanical Behavior & Fracture
Abstract:Welding seam tracking precision is a key factor influencing welding quality for master-slave robot remote welding system. However, it does...
1005
Authors: Hu Sun, Yun Guo Li, Xin Biao Li, Pei Cheng
Chapter 12: Micro-Electronic Packaging Technology and Equipment
Abstract:In this paper, the MIMU( MEMS Inertial Measurement Unit) was used to detect the attitude angle of the two-wheeled robot. By Kalman filter,...
2678
Authors: Ming Cheng, Zhe Wang, Gang Tao
Chapter 5: Materials Machining
Abstract:Road slope and vehicle parameter is of great importance in vehicle control. In order to estimate the on-line road grade, an accelerometer is...
1376
Authors: Jun Du, Mei Sun, Liang Hua, Jia Sheng Ge, Ju Ping Gu
Chapter 6: Mechatronics
Abstract:In order to resolve the problem of seam tracking of the welding robots with unknown noise characteristics, a Weighted Multi-Sensor Data...
800
Authors: C. Saraporn, T. Dolwichai, J. Srisertpol, K. Teeka
Chapter 12: Inspection and Control Systems, Testing, Instrumentation and Measurement
Abstract:Gyroscopes are important sensors in motion control in equipment such as airplanes, missiles and Segway. Low-cost gyroscopes have problems in...
1519