Robot and method of localizing the same
First Claim
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1. A robot comprising:
- a gyroscope module providing information regarding a rotational angle of a gyroscope;
an encoder module providing information regarding velocity and information regarding rotational angle of a wheel of the robot by sensing motion of the wheel; and
a control module estimating a current pose of the robot based on information provided by the encoder module and the gyroscope module by applying a Kalman filter with physical constraints, the control module incorporating the information regarding the rotational angle provided by the gyroscope module when estimating the current pose,wherein the control module is adapted to localize the robot by using the estimated pose of the robot and a pose error of the robot estimated by the gyroscope module as state variables.
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Abstract
A mobile robot and a method of localizing the robot are disclosed. The robot includes a gyroscope module providing information regarding a rotational angle of a gyroscope; an encoder module providing information regarding velocity and information regarding a rotational angle of a wheel of the robot by sensing motion of the wheel; and a control module estimating a current pose of the robot according to a method based on information provided by the encoder module and the gyroscope module, the control module incorporating information regarding rotational angle provided by the gyroscope module when estimating the current pose.
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15 Claims
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1. A robot comprising:
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a gyroscope module providing information regarding a rotational angle of a gyroscope; an encoder module providing information regarding velocity and information regarding rotational angle of a wheel of the robot by sensing motion of the wheel; and a control module estimating a current pose of the robot based on information provided by the encoder module and the gyroscope module by applying a Kalman filter with physical constraints, the control module incorporating the information regarding the rotational angle provided by the gyroscope module when estimating the current pose, wherein the control module is adapted to localize the robot by using the estimated pose of the robot and a pose error of the robot estimated by the gyroscope module as state variables. - View Dependent Claims (2, 3)
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4. A method of localizing a robot having an encoder module and a gyroscope module, comprising:
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providing information regarding a rotational angle of a gyroscope from the gyroscope module; providing information regarding velocity and information regarding a rotational angle of a wheel of the robot, based on motion of the wheel, from the encoder module; and localizing the robot based on the information provided from the encoder module and the gyroscope module by incorporating information regarding the rotational angle provided by the gyroscope module by applying a Kalman filter with physical constraints, wherein the localizing the robot is performed by using an estimated pose of the robot and a pose error of the robot estimated by the gyroscope module as state variables. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification