초음파 위치 시스템 및 차량 파라미터 예측을 통한 위치추정 알고리즘 개발

Abstract

In this paper, the established experiment environment, a kinematic modeling and a localization algorithm for one 4-wheel skid steering vehicle robot are presented preparatory to multi robot control. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor but generates many errors because of the influence of environment such as a reflection of wall. So, two encoders of vehicle operating motor are sensors that compensate a center position of vehicle and orientation data for a localization of vehicle. The localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. Finally, the localization algorithm of vehicle are verified via simulation and experimental.