A dead reckoning sensor system and a tracking algorithm for mobile robot

Ri Park Hye, Jun Hyun Dong, Seok Yang Hyun, Sung Park Hyuk

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper presents a dead reckoning sensor system and a tracking algorithm for mobile robot localization which increases an accuracy of the estimating position at the uneven surface. A dead reckoning sensor system consists of a small, low-cost MEMS IMU and optical navigation sensor that used in laser mice. A tracking algorithm consists of multi-rate extended Kalman filter to fuse redundant and complementary data from IMU and optical navigation sensor. Also method for estimating angular velocity to estimate more accurate yaw bias is proposed. All the experiments are performed on the radio controlled car mounted with sensor system.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages5559-5563
Number of pages5
Publication statusPublished - 2009 Dec 1
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: 2009 Aug 182009 Aug 21

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period09/8/1809/8/21

Fingerprint

Mobile robots
Sensors
Navigation
Extended Kalman filters
Angular velocity
Electric fuses
MEMS
Railroad cars
Lasers
Costs
Experiments

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Cite this

Hye, R. P., Dong, J. H., Hyun, S. Y., & Hyuk, S. P. (2009). A dead reckoning sensor system and a tracking algorithm for mobile robot. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 5559-5563). [5334399]
Hye, Ri Park ; Dong, Jun Hyun ; Hyun, Seok Yang ; Hyuk, Sung Park. / A dead reckoning sensor system and a tracking algorithm for mobile robot. ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. pp. 5559-5563
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Hye, RP, Dong, JH, Hyun, SY & Hyuk, SP 2009, A dead reckoning sensor system and a tracking algorithm for mobile robot. in ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings., 5334399, pp. 5559-5563, ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009, Fukuoka, Japan, 09/8/18.

A dead reckoning sensor system and a tracking algorithm for mobile robot. / Hye, Ri Park; Dong, Jun Hyun; Hyun, Seok Yang; Hyuk, Sung Park.

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. p. 5559-5563 5334399.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Hye RP, Dong JH, Hyun SY, Hyuk SP. A dead reckoning sensor system and a tracking algorithm for mobile robot. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. p. 5559-5563. 5334399