지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
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.11 No.4
- 발행연도
- 2011.12
- 수록면
- 280 - 285 (6page)
이용수
초록· 키워드
오류제보하기
Recently, with the development of service robots and the concept of ubiquitous, the position estimation of mobile objects has received great interest. Some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter. The RFID receiver gets the synchronization signal from the mobile robot and the ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can acquire the ultrasonic signals from only one or two beacons, due to the obstacles located along the moving path. In this paper, a position estimation scheme using fewer than three sensors is developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.
목차
Abstract
1. Introduction
2. Active Beacon Sensor(ABS) System
3. Obstacle confrontation algorithm
4. Simulations and Experiments
5. Conclusion
6. Acknowledgment
References
참고문헌 (13)
참고문헌 신청
A.Galstyan / 2004 / Distributed online localization in sensor networks using a moving target / Int.Symp.Information Processing Sensor Networks(IPSN) :61~70
J.Borenstein / 1994 / UMBmark–A Method for Measuring, Comparing, and Correcting Dead-reckoning Errors in Mobile Robots
Iowa State University GPS page
T.Arai / 1983 / Development of measuring equipment for location and direction(MELODI)using ultrasonic waves / Trans.ASME,Journal of dynamic systems,Measurement and control 105:152~156
L.Kleeman / 1992 / Optimal estimation of position and heading for mobile robots using ultrasonic beacons and Dead-reckoning / IEEE int.Conf.on Robotics and Automaion :2582~2587
J.Borenstein / 1994 / UMBmark–A Method for Measuring, Comparing, and Correcting Dead-reckoning Errors in Mobile Robots
Iowa State University GPS page
T.Arai / 1983 / Development of measuring equipment for location and direction(MELODI)using ultrasonic waves / Trans.ASME,Journal of dynamic systems,Measurement and control 105:152~156
L.Kleeman / 1992 / Optimal estimation of position and heading for mobile robots using ultrasonic beacons and Dead-reckoning / IEEE int.Conf.on Robotics and Automaion :2582~2587
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UCI(KEPA) : I410-ECN-0101-2013-028-001376433