차량형 이동로봇의 위치 추정 정밀도 향상 기법 및 자동 주차 제어Improvement of Odometry Accuracy and Parking Control for a Car-Like Mobile Robot
- Other Titles
- Improvement of Odometry Accuracy and Parking Control for a Car-Like Mobile Robot
- Authors
- 이국태; 정우진; 장효환
- Issue Date
- 2008
- Publisher
- 한국로봇학회
- Keywords
- Car-Like Mobile Robot; Odometry; Calibration; Automatic Parking Control
- Citation
- 로봇학회 논문지, v.3, no.1, pp.16 - 22
- Journal Title
- 로봇학회 논문지
- Volume
- 3
- Number
- 1
- Start Page
- 16
- End Page
- 22
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/125274
- ISSN
- 1975-6291
- Abstract
- Recently, automatic parking assist systems are commercially available in some cars. In order
to improve the reliability and the accuracy of parking control, pose uncertainty of a vehicle and some
experimental issues should be solved. In this paper, following three schemes are proposed. (1)
Odometry calibration scheme for the Car-Like Mobile Robot.(CLMR) (2) Accurate localization using
Extended Kalman Filter(EKF) based redundant odometry fusion. (3) Trajectory tracking controller to
compensate the tracking error of the CLMR. The proposed schemes are experimentally verified using a
miniature Car-Like Mobile Robot. This paper shows that odometry accuracy and trajectory tracking
performance can be dramatically improved by using the proposed schemes.
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