A Study on Localization of the Mobile Robot Using Inertial Sensors and Wheel Revolutions

摘要

INS (Inertial Navigation System) is composed of inertial sensors such as accelerometers and gyroscopes and navigation computer. INS can estimate attitude and position by itself with no outside help and has acceptable stability in the short time, but poor stability in the long time. If a navigation system uses only INS, position and attitude errors are accumulated. The most basic and simple localization method is using encoders attached to robot's wheels. However, measuring errors occur due to the slip between of wheel and ground. In this paper, we discuss about position estimation of the mobile robot in indoor environment. In order to achieve the optimal solution, the error model of encoder system and the Kalman filter will be designed. The system described in this paper shows better accurate position information.