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Beacon System과 Encoder를 이용한 Omniwheel 연마 로봇의 주행 제어
송준우,최병찬,김태언,스리지드,이장명,Song, Jun-Woo,Choi, Byeong-Chan,Kim, Tae-Eon,Sreenivasan, Sreejith Manalipadam,Lee, Jang-Myung 대한임베디드공학회 2017 대한임베디드공학회논문지 Vol.12 No.4
Utilizing the existing polishing robot prevents unrestricted change of direction, driving, and identification of driving pathway. To overcome this barrier, driving mechaism has been designed with Omniwheels with encoders and RSSI method of beacon system has been utilized to identify the driving path by position recognition. Due to the wheel characteristics, the Omniwheel mobile robot generates greater slip than the conventional mobile robot, which reduces its driving accuracy. Therefore, to improve the driving accuracy, the localization is conducted through the fusion of encoder and RSSI of beacon data to compensate for the errors caused by Dead Reckoning and inaccuracy of sensors. Finally, the localization accuracies of the proposed and conventional indoor localization method are compared to show effectiveness of the proposed driving control for a polishing robot.
허리 장착 기반의 IMU 센서를 이용한 3D 보행자 위치 추정 알고리즘 연구
송준우(Jun-Woo Song),류양(Yang Liu),양회성(Hoe-Sung Yang),이강복(Kang-Bok Lee),이장명(Jang-Myung Lee) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.5
This paper proposes a three-dimensional pedestrian position estimation algorithm using a waist-mounted Inertial Measurement Unit (IMU) sensor. A Pedestrian Dead Reckoning (PDR) system has been implemented using a single IMU sensor to locate a pedestrian who is carrying the PDR system on his waist in a building in which GPS signals are too weak to be utilized for localization. The position estimation system using IMU data suffers from degraded accuracy caused by the bias drift of gyroscope values. This approach adopts the quaternion to reduce the bias drift and obtain the precise Euler angles to localize the pedestrian in two-dimensional space with the step length estimation. To extend the localization into three-dimensional space to incorporate situations in which the pedestrian is ascending or descending the stairs, Zero-Velocity UpdaTe (ZUPT) scheme has been applied for processing gyroscope data from the IMU sensor. Real experiments have been performed to show the proposed algorithm’s effectiveness in both two- and three-dimensional spaces.