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
- 학위논문
- 저자정보
- 지도교수
- 柳鐏
- 발행연도
- 2013
- 저작권
- 충남대학교 논문은 저작권에 의해 보호받습니다.
이용수0
이 논문의 연구 히스토리 (4)
2013
- 이 논문의 후속연구가 궁금하신가요?
- 연관 학술논문 또는 학술발표를 통해 보다 발전된 연구결과를 확인하실 수 있습니다.
- 이 논문의 연구 히스토리 확인하기
초록· 키워드
오류제보하기
This thesis deals with the indoor localization problem for a skid steering mobile robot (SSMR) subjected to wheel-ground friction and with one laser range finder.
An SSMR is a kind of non-holonomic wheeled mobile robot which is steered by the velocity difference of left and right wheel pairs, and the wheel-ground friction has significant influence on the driving performance. In order to compensate the wheel-ground friction, a friction related coefficient is estimated using the yaw-axis gyro sensor data and recursive least square algorithm, and then it is appended to the maneuvering command.
While a mobile robot maneuvers using the odometric information (encoder and gyro sensor) in indoor environment, the localization error increases with the distance. To solve this problem, the lines are extracted with scan points of the laser range finder and compared with the ones of the corresponding map built in advance.
Both wheel-ground friction compensation and scan map matching schemes have been applied to a laboratory SSMR, and experimental results are given to validate the localization performance along an indoor corridor.
An SSMR is a kind of non-holonomic wheeled mobile robot which is steered by the velocity difference of left and right wheel pairs, and the wheel-ground friction has significant influence on the driving performance. In order to compensate the wheel-ground friction, a friction related coefficient is estimated using the yaw-axis gyro sensor data and recursive least square algorithm, and then it is appended to the maneuvering command.
While a mobile robot maneuvers using the odometric information (encoder and gyro sensor) in indoor environment, the localization error increases with the distance. To solve this problem, the lines are extracted with scan points of the laser range finder and compared with the ones of the corresponding map built in advance.
Both wheel-ground friction compensation and scan map matching schemes have been applied to a laboratory SSMR, and experimental results are given to validate the localization performance along an indoor corridor.
목차
Ⅰ. 서론 1Ⅱ. 이동로봇 시스템 구성 42.1 시스템 구성 42.2 시스템 좌표변환 9Ⅲ. 지면마찰 보상 113.1 지면마찰 분석 113.2 지면마찰 보상 14Ⅳ. 지도 정합을 통한 위치 추정 164.1 선분 추출 및 지도 정합 164.2 이동로봇 위치 추정 23Ⅴ. 실험 결과 255.1 지면마찰 보상 실험 결과 255.2 실내위치 추정 실험 결과 32Ⅵ. 결론 36참 고 문 헌 38ABSTRACT 41
최근 본 자료
댓글(0)
0