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
- 발행연도
- 2013.10
- 수록면
- 112 - 120 (9page)
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초록· 키워드
오류제보하기
In this study, we propose an improved view-based navigation method for obstacle avoidance and evaluate the effectiveness of the method in real environments with real obstacles. The proposed method possesses the ability to estimate the position and rotation of a mobile robot, even if the mobile robot strays from a recording path for the purpose of avoiding obstacles. In order to achieve this, ego-motion estimation was incorporated into the existing view-based navigation system. The ego-motion is calculated from SURF points between a current view and a recorded view using a Kinect sensor. In conventional view-based navigation systems, it is difficult to generate alternate paths to avoid obstacles. The proposed method is anticipated to allow a mobile robot greater flexibility in path planning to avoid humans and objects expected in real environments. Based on experiments performed in an indoor environment using a mobile robot, we evaluated the measurement accuracy of the proposed method, and confirmed its feasibility for robot navigation in museums and shopping mall.
목차
Abstract
1. Introduction
2. Proposed method
3. Experiments
4. Conclusions
References
참고문헌 (11)
참고문헌 신청
1. [학술지(정기간행물)] - Y. Shimosasa. / 2002 / Business of Guard Robot / Journal of Robotics Society of Japan 20 (7) : 692 ~ 695
2. [학술지(정기간행물)] - M. Imai. / 2002 / Robovie: Communication technologies for a social robot / Artificial Life and Robotics 6 (1-2) : 73 ~ 77
3. [인터넷자원] - / / Communication Robot PaPeRo
4. [학술지(정기간행물)] - H. Durrant-Whyte. / 2006 / Simultaneous localization and mapping : part I / IEEE Robotics Automat. Mag 13 : 99 ~ 108
5. [학술지(정기간행물)] - T. Bailey. / 2006 / Simultaneous localization., mapping(SLAM) : part II / IEEE Robotics Automat. Mag 13 : 108 ~ 117
2. [학술지(정기간행물)] - M. Imai. / 2002 / Robovie: Communication technologies for a social robot / Artificial Life and Robotics 6 (1-2) : 73 ~ 77
3. [인터넷자원] - / / Communication Robot PaPeRo
4. [학술지(정기간행물)] - H. Durrant-Whyte. / 2006 / Simultaneous localization and mapping : part I / IEEE Robotics Automat. Mag 13 : 99 ~ 108
5. [학술지(정기간행물)] - T. Bailey. / 2006 / Simultaneous localization., mapping(SLAM) : part II / IEEE Robotics Automat. Mag 13 : 108 ~ 117
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UCI(KEPA) : I410-ECN-0101-2014-500-002742621