Apparatus for estimating slip of mobile robot and method thereof

The present invention relates to a slip estimation apparatus and method of a mobile robot. Slip estimation of a mobile robot according to the present invention apparatus is informed of the measurement data from a plurality of encoders, said plurality of encoders to measure the rotation speed corresponding to the plurality of installed to a wheel installed wheels for moving the mobile robot, the slip It includes at least one of the receive pass the slip value of the mobile robot, the position, the moving speed, the angular velocity and noise variance of the mobile robot by applying the Kalman filter extended on the estimated slip value and the measurement data estimates from the estimator state estimation for estimating the state of, and the portion estimate the slip of estimating the slip value of the mobile robot and receiving the status information estimated through the estimated data and the condition measurement from the plurality of the encoder applied to the discrete Kalman filter It includes. Thus, according to the present invention, the two using the Kalman filter at the same time it is possible to estimate the current state and the slip containing the velocity and acceleration and location of the four-wheel mobile robot at the same time, slip of the wheels and track of the more precisely a mobile robot the can be estimated.