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METHOD FOR ESTIMATING AND CORRECTING THE POSITION ERROR OF A MOBILE ROBOT USING A HALL SENSOR, CAPABLE OF MINIMIZING POWER CONSUMPTION
METHOD FOR ESTIMATING AND CORRECTING THE POSITION ERROR OF A MOBILE ROBOT USING A HALL SENSOR, CAPABLE OF MINIMIZING POWER CONSUMPTION
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机译:利用霍尔传感器估计和校正移动机器人的位置误差的方法,可最小化功耗
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摘要
PURPOSE: A method for estimating and correcting the position error of a mobile robot using a hall sensor is provided to correct the position error of a robot by moving the robot as an estimated position error.;CONSTITUTION: A method for estimating and correcting the position error of a mobile robot using a hall sensor is as follows. A mobile robot is stopped at a landmark. Voltages of Four hall sensors on the bottom surface, in which the mobile robot is located, are detected. The shortest horizontal distances(l1,l2,l3,l4) between the hall sensors and the magnets of the landmark are calculated using a relational expression of hall sensor output voltage-hall sensor position. The position errors of the mobile robot, which is out of the origin(0) of a landmark coordinate system, are estimated using the shortest horizontal distances.;COPYRIGHT KIPO 2011
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