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논문 상세정보


Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The first method can accurately estimate position under ideal conditions and also when wheel slip perpendicular to the axis of the wheel occurs. The second method can accurately estimate position even when wheel slip parallel to the axis of the wheel occurs. Location of the sensors is investigated in order to minimize errors caused by inaccurate sensor readings. Finally, a method is implemented and tested using a potential field based navigation scheme. Estimates of position were found to be as accurate as dead-reckoning in ideal conditions and much more accurate in cases where wheel slip occurs.

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참고문헌 (10)

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이 논문을 인용한 문헌 (5)

  1. 2005. "" International Journal of Control, Automation and Systems, 3(1): 1~14 
  2. 2008. "" International Journal of Control, Automation and Systems, 6(5): 713~721 
  3. 2009. "" International Journal of Control, Automation and Systems, 7(5): 788~798 
  4. Kim, Sungbok ; Kim, Hyunbin 2013. "Optimal Optical Mouse Array for High Performance Mobile Robot Velocity Estimation" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 19(6): 555~562 
  5. 2014. "" International Journal of Control, Automation and Systems, 12(4): 861~869 


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