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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국지능시스템학회 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS Vol.4 No.1
- 발행연도
- 2004.6
- 수록면
- 23 - 28 (6page)
이용수
초록· 키워드
오류제보하기
This paper proposes a sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent on the current data sets.
As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations. Finally, the new space and time sensor fusion(STSF) scheme is applied to the control of a mobile robot in an unstructured environment as well as structured environment.
As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations. Finally, the new space and time sensor fusion(STSF) scheme is applied to the control of a mobile robot in an unstructured environment as well as structured environment.
목차
Abstract
Ⅰ. Introduction
Ⅱ. Space and Time Sensor Fusion
Ⅲ. Applications to Mobile Robots
Ⅳ. Robot Type in Experiments Setup
Ⅴ. Experimental Results
Ⅵ. Conclusion
References
참고문헌 (6)
참고문헌 신청
[학술지(정기간행물)] - / 1999. / A Review of High-level Multisensor Fusion Proc. : 25 ~ 31
[학술지(정기간행물)] - / 1999. / Fine Active Calibration of Camera Position/Orientation through Pattern Recognition : 100 ~ 105
[학술지(정기간행물)] - / Jan.1997. / Sensor Fusion for Mobile Robot Navigation 85 (1) : 108 ~ 119
[학술지(정기간행물)] - / 1997. / Navigating a Mobile Service-Robot in a Natural Environment Using Sensor-Fusion Techniques : 1423 ~ 1428
[학술지(정기간행물)] - / 1990. / Multisensor Data Fusion
[학술지(정기간행물)] - / 1999. / Fine Active Calibration of Camera Position/Orientation through Pattern Recognition : 100 ~ 105
[학술지(정기간행물)] - / Jan.1997. / Sensor Fusion for Mobile Robot Navigation 85 (1) : 108 ~ 119
[학술지(정기간행물)] - / 1997. / Navigating a Mobile Service-Robot in a Natural Environment Using Sensor-Fusion Techniques : 1423 ~ 1428
[학술지(정기간행물)] - / 1990. / Multisensor Data Fusion
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