A Precise Localization Method for a High Speed Mobile Robot Using iGS and Dual Compass  

作　　者：Seo-young HWANG Yo-sub HWANG Jang-myung LEE 

机构地区：[1]Dept.of Electrical Engineering,Pusan National University

出　　处：《Journal of Measurement Science and Instrumentation》2011年第3期276-282,共7页测试科学与仪器（英文版）

基　　金：supported by the MKE(The Ministry of Knowledge Economy),Korea,under the ITRC(Information Technology Research Center)support program supervised by the NIPA(National IT Industry Promotion Agency)(NIPA-2011-C1090-1121-0010)

摘　　要：This paper proposes a precise localization algorithm for a quickly moving mobile robot.In order to localize a mobile robot with active beacon sensors,a relatively long time is needed,since the distance to the beacon is measured by transmitting time of the ultrasonic signal.The measurement time does not cause a high error rate when the mobile robot moves slowly.However,with an increase of the mobile robot’s speed,the localization error becomes too high to use for accurate mobile robot navigation.Therefore,in this research into high speed mobile robot operations,instead of using two active beacons for localization,an active beacon and dual compass are utilized to localize the mobile robot.This new approach resolves the high localization error caused by the speed of the mobile robot.The performance of the precise localization algorithm is verified by comparing it to the conventional method through real-world experiments.

关 键 词：IGS dual compass mobile robot LOCALIZATION 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH762.3[自动化与计算机技术—控制科学与工程]