Far East Journal of Dynamical Systems
Volume 14, Issue 1, Pages 71 - 81
(September 2010)
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COMPARISON OF DYNAMICS, CONTROL, AND SIMULATION OF MOBILE ROBOT INTEGRATED WITH LIGHT INTENSITY SENSORS AND ACCELEROMETER
Surachai Panich
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Abstract:
This paper proposed mainly comparison of dynamic motion performance of mobile robot based on differential drive system between integrated light intensity sensors and accelerometer for distance increment with Kalman filter to estimate robot’s position. A developed fusion algorithm between differential encoder system and external sensors is analyzed and experimentally tested in square path. Applying the Kalman filter theory, we successfully fused differential encoders and external sensors to obtain improved position and heading angle estimation. Finally, the experimental result and simulation present the different trajectories generated by only differential encoders and differential encoders integrated with external sensors system. |
| Keywords and phrases: light intensity sensor, encoder, accelerometer, sensor data fusion. |
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