Augmentation of Enhanced HDR Utilizing Encoder to Estimate Yaw-Angle of Cleaning Robots | Zendy

Yoon Hee Cho | Zendy; Sang Cheol Lee | Zendy; Sung Kyung Hong | Zendy

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Augmentation of Enhanced HDR Utilizing Encoder to Estimate Yaw-Angle of Cleaning Robots

Author(s) -

Yoon Hee Cho,

Sang Cheol Lee,

Sung Kyung Hong

Publication year - 2016

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/62484

Subject(s) - computer science , encoder , robot , rotary encoder , computer vision , attenuator (electronics) , artificial intelligence , binary number , integrator , control theory (sociology) , simulation , mathematics , bandwidth (computing) , control (management) , operating system , arithmetic , computer network , physics , attenuation , optics

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

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