차량형 이동로봇의 위치 추정 정밀도 향상 기법 및 자동 주차 제어
Improvement of Odometry Accuracy and Parking Control for a Car-Like Mobile Robot
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초록
Recently, automatic parking assist systems are commercially available in some cars. In order to improve the reliability and the accuracy of parking control, pose uncertainty of a vehicle and some experimental issues should be solved. In this paper, following three schemes are proposed. (1) Odometry calibration scheme for the Car-Like Mobile Robot.(CLMR) (2) Accurate localization using Extended Kalman Filter(EKF) based redundant odometry fusion. (3) Trajectory tracking controller to compensate the tracking error of the CLMR. The proposed schemes are experimentally verified using a miniature Car-Like Mobile Robot. This paper shows that odometry accuracy and trajectory tracking performance can be dramatically improved by using the proposed schemes.
Abstract
Recently, automatic parking assist systems are commercially available in some cars. In order to improve the reliability and the accuracy of parking control, pose uncertainty of a vehicle and some experimental issues should be solved. In this paper, following three schemes are proposed. (1) Odometry calibration scheme for the Car-Like Mobile Robot.(CLMR) (2) Accurate localization using Extended Kalman Filter(EKF) based redundant odometry fusion. (3) Trajectory tracking controller to compensate the tracking error of the CLMR. The proposed schemes are experimentally verified using a miniature Car-Like Mobile Robot. This paper shows that odometry accuracy and trajectory tracking performance can be dramatically improved by using the proposed schemes.
참고문헌 (6)
- Kooktae Lee, "Car parking control using a trajectory tracking controller", SICE-ICCAS International Joint Conference 2006 (2006)
- T.S.Li, "Autonomous Fuzzy Parking Control of a Car-Like Mobile Robot", Trans. on Systems Man and Cybernetics (2003)
- J. Borenstein, "Correction of Systematic odometry Errors in Mobile Robots", IEEE International Conference on Intelligent Robots and Systems, pp.569~574 (1995)
- Josep M. Mirats Tur, "A Closed-Form Expression for the Uncertainty in odometry Position Estimate of an Autonomous Vehicle", IEEE Trans. on Robotics, 21(5) (2005)
- Philippe Bonnifait, "Data Fusion of Four ABS Sensors and GPS for an Enhanced localization of Car-like Vehicles", IEEE International Conference on Robotics & Automation (2001)
- Philip J. Mckerrow, "Calibrating a 4-wheel mobile robot", IEEE, 2002, ~