earticle

영어

A mobile robot generates position error when it changes directions. To reduce the position error a gyro sensor can be used. However, the effect of gyro sensor is not fully measured precisely for various conditions. This paper focuses on the effect of gyro sensor by measuring position error which is comprised of angular error and distance error. In the experimentation, the position errors of mobile robots for five different courses are measured for the robot with a gyro sensor and those without it. The closed courses include three, five, seven, nine and eleven direction changes which cause to generate considerable position errors. The experimental result shows that the angular error is reduced to about 14.3%~41.4% after a gyro sensor is used. Further, the position errors in distance are reduced to 22.4~31.8% when a gyro sensor is used. The remarkable difference between the two kind of errors is that the angular error increases steadily whereas the distance error increases rapidly but does not increase anymore over a certain level as the number of direction change increases.