Earticle

초록

영어

A mobile robot generates position error when it changes directions. To reduce the position error a gyro sensor can be used. However, the effect of gyro sensor is not fully measured precisely for various conditions. This paper focuses on the effect of gyro sensor by measuring position error which is comprised of angular error and distance error. In the experimentation, the position errors of mobile robots for five different courses are measured for the robot with a gyro sensor and those without it. The closed courses include three, five, seven, nine and eleven direction changes which cause to generate considerable position errors. The experimental result shows that the angular error is reduced to about 14.3%~41.4% after a gyro sensor is used. Further, the position errors in distance are reduced to 22.4~31.8% when a gyro sensor is used. The remarkable difference between the two kind of errors is that the angular error increases steadily whereas the distance error increases rapidly but does not increase anymore over a certain level as the number of direction change increases.

목차

Abstract
 1. Introduction
 2. Mobile Robot with omni-directional Wheels
 3. Experimentation
 4. Conclusion
 References

키워드

저자

• Kyujung Lee [ Dept. of Info. and Comm., Graduate School of Info. and Comm., Hanbat National Univ. ]
• Choong Ho Lee [ Dept. of Info. and Comm., Graduate School of Info. and Comm., Hanbat National Univ. ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Software Engineering and Its Applications

• 간기

  월간

• pISSN

  1738-9984

• 수록기간

  2008~2016

• 등재여부

  SCOPUS

• 십진분류

  KDC 505 DDC 605