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오현주(Hyunjoo Oh),이영석(Youngseok Lee),양석원(Sukwoon Yang) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
The localization of a mobile robot is necessary to perform autonomous tasks in a vertical plane. The odometer is a very simple and effective method, in case the absolute sensors (such as GPS) are unavailable or difficult to install. However, the method using robot’s driving wheels is incorrect because the error of odometer is accumulated and is generated due to the driving state of robot, wheel slip, larger bumps, etc. So we designed the caster system composed of the MEMS gyro sensors, the encoders fixed on caster wheel, and suspension systems. The proposed system is fused each sensor output through an Indirect Kalman Filter to determine an accurate position and to reduce on position’s error. We fixed the system on robot’s back side and experimented on it. Simulation and experimental results illustrate the efficacy of a proposed system on the vertical robot.