전자나침반과 엔코더를 이용한 이동로봇의 위치추정

Abstract

This paper propose a method to estimate the pose of an indoor mobile robot. The method uses the information from electric compass and wheel encoder. Usually the dead reckoning method using only the encoder information can't avoid the error due to slip, wheel diameter error, and uneven floor. So the proposed method uses electric compass to compensate the pose error. The method regards the heading angle from the electric encoder more reliable than the heading angle from the dead reckoning. The heading angle from the electric compass substitutes the dead reckoned heading angle, and is used to calibrate the dead reckoned position data. This method is tested and evaluated through simulation and experiments.