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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
- 발행연도
- 2011.6
- 수록면
- 156 - 164 (9page)
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초록· 키워드
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This paper propose a localization system of indoor mobile robots. The localization system includes camera and artificial landmarks for global positioning, and encoders and gyro sensors for local positioning. The Kalman filter is applied to take into account the stochastic errors of all sensors. Also we develop a dead reckoning system to estimate the global position when the robot moves the blind spots where it cannot see artificial landmarks, The learning engine using modular networks is designed to improve the performance of the dead reckoning system. Experimental results are then presented to verify the usefulness of the proposed localization system.
목차
Abstract
1. 서론
2. 이동로봇 시스템
3. 위치추정시스템
4. 사각지대에서의 위치추정
5. 실험결과
6. 결론
참고문헌
참고문헌 (15)
참고문헌 신청
1. [학술지(정기간행물)] - J. Guivant / 2000 / Autonomous navigation and map building using laser range sensors in outdoor application / Journal of Robotic Systems 17 (10) : 565 ~ 583
2. [학술지(정기간행물)] - M. Drumheller / 1987 / Mobile robot localization using sonar / IEEE Trans. on Pattern Analysis and Machine Intelligence 9 (2) : 325 ~ 332
3. [학술지(정기간행물)] - M. Betke / 1997 / Mobile robot localization using landmark / IEEE Trans. on Robotics and Automation 13 (2) : 251 ~ 263
4. [학술지(정기간행물)] - T. H. Lee / 2009 / Position estimation for mobile robot using In-plane 3-Axis IMU and active beacon / IEEE Int. Symp. on Industrial Electronics : 1956 ~ 1961
5. [학술대회논문] - T. Abdelazim / 2004 / Experiment results of an adaptive fuzzy network kalman filtering integration for low cost navigation application / Proc. NAFIS-04 : 231 ~ 236
2. [학술지(정기간행물)] - M. Drumheller / 1987 / Mobile robot localization using sonar / IEEE Trans. on Pattern Analysis and Machine Intelligence 9 (2) : 325 ~ 332
3. [학술지(정기간행물)] - M. Betke / 1997 / Mobile robot localization using landmark / IEEE Trans. on Robotics and Automation 13 (2) : 251 ~ 263
4. [학술지(정기간행물)] - T. H. Lee / 2009 / Position estimation for mobile robot using In-plane 3-Axis IMU and active beacon / IEEE Int. Symp. on Industrial Electronics : 1956 ~ 1961
5. [학술대회논문] - T. Abdelazim / 2004 / Experiment results of an adaptive fuzzy network kalman filtering integration for low cost navigation application / Proc. NAFIS-04 : 231 ~ 236
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UCI(KEPA) : I410-ECN-0101-2020-559-001259387