BIAS CORRECTION APPARATUS FOR ESTIMATING LEAD ANGLE OF MOBILE ROBOT AND METHOD THEREOF

摘要

The present invention relates to a bias correction apparatus for estimating a lead angle of a mobile robot and a method thereof. The bias correction apparatus can estimate the lead angle of the mobile robot in an accurate manner by correcting the bias error generated by a gyro sensor in the mobile robot using the gyro sensor. The bias correction apparatus comprises: a gyro for measuring a rotational angle speed of the mobile robot; an encoder for measuring a pulse with respect to the rotation of a mobile wheel of the mobile robot; a bias estimation unit for identifying motional state of the mobile robot by counting the pulse measured through the encoder, and for estimating the bias per motional state by expanding the range which can estimate the bias of the gyro with respect to the motion state of the mobile robot; and a bias correction unit for correcting the same by removing the estimated bias calculated through the bias estimation unit from the output value measured through the gyro.;COPYRIGHT KIPO 2017