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.14 No.1
- 발행연도
- 2014.3
- 수록면
- 41 - 48 (8page)
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초록· 키워드
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This paper analyzes the Monte Carlo localization (MCL) method, which estimates the pose of an indoor mobile robot. A mobile robot must know where it is to navigate in an indoor environment. The MCL technique is one of the most influential and popular techniques for estimation of robot position and orientation using a particle filter. For the analysis, we perform experiments in an indoor environment with a differential drive robot and ultrasonic range sensor system. The analysis uses MATLAB for implementation of the MCL and investigates the effects of the control parameters on the MCL performance. The control parameters are the uncertainty of the motion model of the mobile robot and the noise level of the measurement model of the range sensor.
목차
Abstract
1. Introduction
2. Monte Carlo Localization and its Models
3. Experiment and Analysis
4. Discussion
5. Conclusion
References
참고문헌 (24)
참고문헌 신청
2. [학술지(정기간행물)] - M. Peca / 2010 / “Ultrasonic localization of mobile robot using active beacons and code correlation,” in Research and Education in Robotics–EUROBOT 2009 / Communications in Computer and Information Science (82) : 116 ~ 130
3. [학술지(정기간행물)] - 진태석 / 2007 / Global map building and navigation of mobile robot based on ultrasonic sensor data fusion / International Journal of Fuzzy Logic and Intelligent systems 7 (3) : 198 ~ 204
4. [학술지(정기간행물)] - L. Moreno / 2002 / A genetic algorithm for mobile robot localization using ultrasonic sensors / Journal of Intelligent and Robotic Systems 34 (2) : 135 ~ 154
5. [학술지(정기간행물)] - J. J. Leonard / 1991 / Mobile robot localization by tracking geometric beacons / IEEE Transactions on Robotics and Automation 7 (3) : 376 ~ 382
6. [학술대회논문] - G. Welch / / An introduction to the Kalman filter / Proceedings of SIGGRAPH ’01, The 28th International Conference on Computer Graphics and Interactive Techniques
3. [학술지(정기간행물)] - 진태석 / 2007 / Global map building and navigation of mobile robot based on ultrasonic sensor data fusion / International Journal of Fuzzy Logic and Intelligent systems 7 (3) : 198 ~ 204
4. [학술지(정기간행물)] - L. Moreno / 2002 / A genetic algorithm for mobile robot localization using ultrasonic sensors / Journal of Intelligent and Robotic Systems 34 (2) : 135 ~ 154
5. [학술지(정기간행물)] - J. J. Leonard / 1991 / Mobile robot localization by tracking geometric beacons / IEEE Transactions on Robotics and Automation 7 (3) : 376 ~ 382
6. [학술대회논문] - G. Welch / / An introduction to the Kalman filter / Proceedings of SIGGRAPH ’01, The 28th International Conference on Computer Graphics and Interactive Techniques
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UCI(KEPA) : I410-ECN-0101-2015-004-001367978