Using a Compass for the Localization of a Robot with PID Control
From the exploration of unknown or potentially dangerous environments to doing household tasks,robotic applications require localization,i.e.,the knowledge of where the robot is located.Localization systems can use the method of dead-reckoning (DR),but error accumulation is a serious problem.Researchers try to solve this problem by employing one or more reference objects in the environment.Unfortunately,all reference objects need to be reset in a new environment.This study proposes a localization method with an electronic compass and proportional-integral-derivative (PID) control in navigation tasks.Experimental results show that this method has some advantages over the methods mentioned above.
Terms-compass dead-reckoning (DR) localization system proportional-integral-derivative (PID) control
Wing-Kwong Wong Sheng-Kai Yin Hsu-Sheng Chang
Department of Electronic Engineering,National Yunlin University of Science & Technology,Touliu,Yunli Graduate School of Engineering Science & Technology,National Yunlin University of Science & Technolo
国际会议
沈阳
英文
1910-1915
2012-09-07（万方平台首次上网日期，不代表论文的发表时间）