Augmentation of Enhanced HDR Utilizing Encoder to Estimate Yaw-Angle of Cleaning Robots. (7th March 2016)

• Record Type: Journal Article
• Authors: Cho, Yoon Hee; Lee, Sang Cheol; Hong, Sung Kyung
• Is Part Of: International journal of advanced robotic systems. Volume 13:Number 2(2016)
• Publication Date: 2016-03-07
• Subjects: Yaw-angle Estimation -- MEMS Gyro -- Encoder -- Cleaning Robot -- Enhanced HDR (Heuristic Drift); Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/62484
• Languages: English
• ISSNs: 1729-8806

Abstract

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.