Seo-young HWANG, Yo-sub HWANG, Jang-myung LEE
(Dept. of Electrical Engineering, Pusan National University, Pusan 609-735, Korea)
Abstract-This paper proposes a precise localization algorithm for a quickly moving mobile robot. In order to localize a mobile robot with active beacon sensors, a relatively long time is needed, since the distance to the beacon is measured by transmitting time of the ultrasonic signal. The measurement time does not cause a high error rate when the mobile robot moves slowly. However, with an increase of the mobile robot′s speed, the localization error becomes too high to use for accurate mobile robot navigation. Therefore, in this research into high speed mobile robot operations, instead of using two active beacons for localization, an active beacon and dual compass are utilized to localize the mobile robot. This new approach resolves the high localization error caused by the speed of the mobile robot. The performance of the precise localization algorithm is verified by comparing it to the conventional method through real-world experiments.
Key words-iGS；dual compass；mobile robot；localization
Manuscript Number: 1674-8042(2011)03-0276-07
doi: 10.3969/j.issn.1674-8042.2011.03.018
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