Robust Estimation of Position and Direction Based on Robot Velocity in the Inner GPS Environment

Abstract

The accurate estimation of position and direction of the mobile robot is essential for preparing precise movement and works in the inner complex environment. In this paper, we propose a robust estimation method of location and direction using the velocity of mobile robot in the inner GPS environment. The estimation using the inner GPS with ultrasonic sensors have to consider with various acoustic noise and sensor errors. We design a robust estimation method using a membership function based on uncertainty of the obtained information and robot velocity. The simulation results of the proposed method show effectiveness in the contaminated environment with position errors.

A Study on the Development of Taxi Safety Support System Using the Beacon Device

“…사용자의 위치를 추정 방법은 비콘, 비전시스템, GPS, 레이저 거리 스캐너, iGPS 등 여러 가지 시스템을 활용할 수 있으며, 정확도를 높이기 위해 다양한 연구들이 이루어져 왔다 [6][7] …”