Absolute positioning system for mobile robot integrated with gyroscope by using IKF | |
| Author | Surachai Panich |
| Call Number | AIT Diss. no.ISE-12-02 |
| Subject(s) | Robots--Control systems Global Positioning System |
| Note | A dissertation submitted in partial fulfillments of the requirements for the Degree of Doctor of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Dissertation ; no. ISE-12-02 |
| Abstract | ln wheel mobile robot differential odometry is a self-sustaining navigation method. By differential odometry over random irregular ground under wheels, it made unlimited error for estimated position. However, more researchers still use differential odometry for mobile robot, for example in navigation application and try to improve its accuracy. ln research field of navigation system, the absolute positioning is interested with two advantage reasons. Firstly the error from absolute positioning is bounded and secondly previous information for position estimate is not necessary. In this dissertation absolute positioning systems arc mainly proposed for mobile robot driven by differential odometry. Before the absolute positioning system will be integrated in navigation system, the mobile robot driven by differential odometry is widely integrated with gyroscope (OdoGyro) to reduce orientation error firstly. The first absolute positioning is compass integrated on mobile robot. The compass can generate directly the output of absolute orientation to compensate absolute orientation error of differential odometry integrated with gyroscope (OdoGyro) system. The second absolute positioning is designed by camera positioning system (CaPS). The CaPS can generate absolute position to reduce position error in reference frame of OdoGyro system for mobile robot. The last absolute positioning system is the trilateration ultrasonic bases system (TUBS). It uses the principle of distance measurement that needs at least two landmarks as Cartesian 's reference position. The absolute positioning system is used to generate absolute pos1t10n and orientation compared with position and orientation, which is estimated from OdoGyro to detenninc absolute position and orientation error of mobile robot. These errors arc sent back to navigation system by using indirect Kalman filter (IKF) to correct odometry system and gyroscope parameter to improve accuracy of position and orientation of mobile robot. The lK..F can estimate error of absolute orientation and position from positioning system (compass, the CaPS and the TUBS) compared with OdoGyro system by using the different measurement information in same physical parameter, such as absolute orientation and position. Ln the experimental part, multi-sensor navigation methods are discussed, compared and illustrated in graphic. The results show that the IKF can give better precisely estimated position and orientation by using absolute positioning system. |
| Year | 2012 |
| Corresponding Series Added Entry | Asian Institute of Technology. Dissertation ; no. ISE-12-02 |
| Type | Dissertation |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Afzulpurkar, Nitin V.; |
| Examination Committee(s) | Manukid Parnichkun ;Honda, Kiyoshi ;Vyas, Nalinaksh S.; |
| Scholarship Donor(s) | Academic Affairs of Thailand Government;Asian Institute of Technology Fellowship and Self Support; |
| Degree | Thesis (Ph. D.) - Asian Institute of Technology, 2012 |