Location Tracking Compensation Algorithm for Route Searching of Docent Robot in Exhibition Hall 


Vol. 40,  No. 4, pp. 723-730, Apr.  2015


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  Abstract

In this paper, a location tracking compensation algorithm based on the Least-Squares Method (LCALSM) was proposed to improve the autonomous tracking efficiency for the docent robot in exhibition hall, and the performance of the LCALSM is analyzed by several practical experiments. The proposed LCALSM compensates the collected location coordinates for the robot using the Least-Squares Method (LSM) in order to reduce the cumulated errors that occur in the Encoder/Giro sensor (E/G) and to enhance the measured tracking accuracy rates in the autonomous tracking of the robot in exhibition hall. By experiments, it was confirmed that the average error reduction rates of the LCALSM are higher as 4.85% than that of the LCAKF in Scenario 1 (S1) and Scenario 2 (S2), respectively on the location tracking. In addition, it was also confirmed that the standard deviation in the measured errors of the LCALSM are much more low and constant compared to that of the E/G sensor and the LCAKF in S1 and S2 respectively. Finally, we see that the suggested LCALSM can execute more the stabilized location tracking than the E/G sensors and the LCAKF on the straight lines of S1 and S2 for the docent robot.

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  Cite this article

[IEEE Style]

M. K. Jung and D. M. Lee, "Location Tracking Compensation Algorithm for Route Searching of Docent Robot in Exhibition Hall," The Journal of Korean Institute of Communications and Information Sciences, vol. 40, no. 4, pp. 723-730, 2015. DOI: .

[ACM Style]

Moo Kyung Jung and Dong Myung Lee. 2015. Location Tracking Compensation Algorithm for Route Searching of Docent Robot in Exhibition Hall. The Journal of Korean Institute of Communications and Information Sciences, 40, 4, (2015), 723-730. DOI: .

[KICS Style]

Moo Kyung Jung and Dong Myung Lee, "Location Tracking Compensation Algorithm for Route Searching of Docent Robot in Exhibition Hall," The Journal of Korean Institute of Communications and Information Sciences, vol. 40, no. 4, pp. 723-730, 4. 2015.

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pISSN : 1226 - 4717
eISSN : 2287 - 3880