Azimuth Tracking Control of an Omni-Directional Mobile Robot(ODMR) Using a Magnetic Compass
| Autor: | Seul Jung, Jeong-Hyeong Lee |
|---|---|
| Rok vydání: | 2009 |
| Předmět: |
Computer science
business.industry Applied Mathematics ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Mobile robot Kinematics Tracking (particle physics) Computer Science::Robotics Azimuth Noise Control and Systems Engineering Compass Robot Computer vision Artificial intelligence business Encoder Software |
| Zdroj: | Journal of Institute of Control, Robotics and Systems. 15:132-138 |
| ISSN: | 1976-5622 |
| DOI: | 10.5302/j.icros.2009.15.2.132 |
| Popis: | In this paper, control of an omni-directional mobile robot is presented. Relying on encoder measurements to define the azimuth angle yields the dead-reckoned situation which the robot fails in localization. The azimuth angle error due to dead-reckoning is compensated and corrected by the magnetic compass sensor. Noise from the magnetic compass sensor has been filtered out. Kinematics and dynamics of the omni-directional mobile robot are derived based on the global coordinates and used for simulation studies. Experimental studies are also conducted to show the correction by the magnetic compass sensor. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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