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
- 2012.12
- 수록면
- 231 - 242 (12page)
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초록· 키워드
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This paper proposes particle filter(PF) method using acoustic signal for localization of an underwater robot. The method uses time of arrival(TOA) or time difference of arrival(TDOA) of acoustic signals from beacons whose locations are known. An experiment in towing tank uses TOA information. Simulation uses TDOA information and it reveals dependency of the localization performance on the uncertainty of robot motion and senor data. Also, comparison of the PF method with the least squares method of spherical interpolation(SI) and spherical intersection(SX) is provided. Since PF uses TOA or TDOA which comes from measurement of external information as well as internal motion information, its estimation is more accurate and robust to the sensor and motion uncertainty than the least squares methods.
목차
Abstract
1. 서론
2. TDOA 위치추정 문제 설정과 최소 자승법
3. TDOA 위치추정 문제 설정과 최소 자승법
4. 실험 및 고찰
5. 결론
참고문헌
참고문헌 (18)
참고문헌 신청
1. [보고서] - J. J. Leonard / 1998 / Autonomous underwater vehicle navigation
2. [학술대회논문] - P. Corke / 2007 / Experiments with Underwater Robot Localization and Tracking / Proc. IEEE Conf. Robotics and Automation : 4556 ~ 4561
3. [단행본] - S. Thrun / 2005 / Probabilistic Robotics / MIT Press
4. [학술대회논문] - 고낙용 / 2011 / Experiments and Analysis of MCL Based Localization for Mobile Robot Navigation / ISMS2011 Second International Conference on Intelligent Systems, Modelling and Simulation : 221 ~ 227
5. [학술지(정기간행물)] - B. P. Foley / 2002 / Precision Survey and Archaeological Methodology in Deep Water / ENALIA Journal of the Hellenic Institute of Marine Archaeology 6 : 49 ~ 56
2. [학술대회논문] - P. Corke / 2007 / Experiments with Underwater Robot Localization and Tracking / Proc. IEEE Conf. Robotics and Automation : 4556 ~ 4561
3. [단행본] - S. Thrun / 2005 / Probabilistic Robotics / MIT Press
4. [학술대회논문] - 고낙용 / 2011 / Experiments and Analysis of MCL Based Localization for Mobile Robot Navigation / ISMS2011 Second International Conference on Intelligent Systems, Modelling and Simulation : 221 ~ 227
5. [학술지(정기간행물)] - B. P. Foley / 2002 / Precision Survey and Archaeological Methodology in Deep Water / ENALIA Journal of the Hellenic Institute of Marine Archaeology 6 : 49 ~ 56
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UCI(KEPA) : I410-ECN-0101-2020-559-001258895