| Title |
Implementation of Tracking Control System for Autonomous Mobile Robot based on State Estimation with Multi-sensor |
| Authors |
진용식(Yongsik Jin) ; 한승용(Seungyong Han) ; 이상문(Sangmoon Lee) |
| DOI |
http://doi.org/10.5370/KIEE.2019.68.5.678 |
| Keywords |
Multi-sensor system ; MPC ; Autonomous mobile robot ; State estimator ; Tracking control |
| Abstract |
In this paper, we propose a tracking control method for autonomous mobile robot based on state estimation with multi-sensor. The proposed system consists of a camera and encoder to measure the accurate position and orientation of a robot. In order to fuse data obtained from different sensors, we designed a state estimator with multi-rate sampled-data. The performance of the tracking control is guaranteed by the explicit model predictive control method which is employed for real-time implementation. For autonomous navigation, we implemented camera based sign recognition, obstacle location determination, and path generation algorithm using rider data. The proposed autonomous tracking control system for mobile robot is developed in the embedded environment based on the robot operating system (ROS). Virtual simulations and real experiments are performed to show the effectiveness and validity of the proposed method. |