文章基本信息

标题：Augmentation of Enhanced HDR Utilizing Encoder to Estimate Yaw-angle of Cleaning Robots
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作者：Yoon Hee Cho ; Sang Cheol Lee and Sung Kyung Hong
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
DOI：10.5772/62484
语种：English
出版社：SAGE Publications
摘要：This paper proposes an improved algorithm for augmenting the enhanced HDR by utilizing encoder readings to achieve further minimized drift on the yaw-angle estimation of cleaning robots. The primary idea of the proposed approach consists of two phases: 1) classifying the manoeuvre (stop, straight and curving) being carried out using logic as a function of encoder readings; 2) controlling the Attenuator gain, resetting the Binary I-controller and switching Integrator in the enhanced HDR structure, taking into account the identified manoeuvring conditions. The proposed algorithm is applied to a cleaning robot and the experimental data demonstrate the effectiveness of this approach.
关键词：Yaw-angle Estimation; MEMS Gyro; Encoder; Cleaning Robot; Enhanced HDR (Heuristic Drift)