Navigation and Control of Mobile Robot Using Sensor Fusion

摘要

Mobile robot, especially wheeled mobile robot, with its simple mechanical structure and inherent agility, has attracted significant attentions for dynamic environment applications in the last two decades (Pin et al. 1994 and Purwin 2006). A general mobile robot Guidance, Navigation and Control (GNC) system is illustrated in the following figure. The main function of guidance system is to generate a feasible trajectory command, usually in multiple dimension of freedom (DOF) to achieve a robot task. The objective of control system is to drive the mobile robot following the commanded trajectory with acceptable tracking errors and stability margin. The function of robot navigation system is to provide accurate position, velocity and/or orientation information for the control system and guidance system. A stable and accurate navigation system is the bridge between the guidance system and control system of mobile robots, which ultimately determines the robot performance.