Journal
IEEE ACCESS
Volume 9, Issue -, Pages 12301-12308Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3051404
Keywords
Robots; Robot sensing systems; Kalman filters; Estimation; Cleaning; Sensor fusion; Robot kinematics; Dual ascender robot; facade cleaning robot; sensor fusion; unscented Kalman filter; position estimation; IMU sensor
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Funding
- National Research Foundation of Korea (NRF) - Ministry of Science and ICT [2018M3C1B9088331, 2018M3C1B9088332]
- National Research Foundation of Korea [2018M3C1B9088332, 2018M3C1B9088331] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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The study introduced a new method based on the unscented Kalman filter for position estimation of the Dual Ascender Robot (DAR), improving performance compared to the previously used method. The method overcomes errors caused by rope slip in the ascender, leading to reduced errors in accuracy and repeatability by approximately 2-3 times as confirmed through testing.
In this study, the unscented Kalman filter-based method was introduced as a new technique for position estimation of the two-degree-of-freedom facade cleaning robot known as the Dual Ascender Robot (DAR). While other facade cleaning robots use a winch, the DAR uses an ascender, resulting in rope slip inside the ascender. Rope slip does easily cause errors in length data, so DARs cannot be easily controlled based on length data as in the case of most facade cleaning robots. Therefore, the DARs estimate the length data and use it through position estimation to overcome the rope slip for control. DARs use a rope length-based sensor fusion method for position estimation. This method employs position data based on both length data and angle data to estimate the position; however, it is difficult to use for long periods of time owing to the increased error that accumulates with time. Therefore, the use of position data based on angle data is proposed herein via application of the unscented Kalman filter. This unscented Kalman filter-based method is tested to confirm that the positional estimation performance is improved relative to that achieved via the previously used method. The performance improvements are compared in terms of accuracy and repeatability using the double ball bar method, and the errors in accuracy and repeatability are found to be reduced by approximately 2-3 times.
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