METHOD FOR MEASURING POSE OF A MOBILE ROBOT AND METHOD AND APPARATUS FOR MEASURING POSITION OF THE MOBILE ROBOT USING THE METHOD

摘要

A mobile robot pose measuring apparatus which uses an accelerometer without a gyro measuring the pitch and roll of a mobile robot, and a mobile robot position measuring method and apparatus using the pose measuring apparatus are provided. A mobile robot pose measuring apparatus(100) comprises an accelerometer(125) measuring the acceleration in straight driving of a mobile robot, a uniform speed determining unit(120) determining the section in which the mobile robot runs at uniform speed and the section in which the mobile robot accelerates/decelerates by calculating the sectional speed based on the profile of the rotation speed, and a pose calculation unit(130) calculating the pitch and roll of the mobile robot.