서지주요정보
초음파의 다중 반사 특성을 이용한 실내공간에서의 목표물 인식에 관한 연구 = Target classification in indoor environment using multiple reflection of ultrasound
서명 / 저자 초음파의 다중 반사 특성을 이용한 실내공간에서의 목표물 인식에 관한 연구 = Target classification in indoor environment using multiple reflection of ultrasound / 류동연.
저자명 류동연 ; Ryu, Dong-Yeon
발행사항 [대전 : 한국과학기술원, 1997].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8008083

소장위치/청구기호

학술문화관(문화관) 보존서고

MADE 97029

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

In indoor navigation of a mobile robot, SONAR has been used for many applications such as self localization, obstacle avoidance, and target classification and localization. This paper addresses the issue of target classification and localization with a SONAR. In particular, multiple reflections of SONAR sound are used actively and intentionally. As for the SONAR sensor, the multiple reflection has been generally considered as one of the noisy phenomena, which is inevitable in the indoor environments. A method for overcoming the situation is to use only the first reflection for calculating the TOF (Time Of Flight) and ignore the other reflections. However, these multiple reflections can be a clue for classifying and localizing targets in the indoor environment if those can be controlled and used well. This paper develops a new scanning type SONAR sensor module with a reflection plane which can actively create the multiple reflections. This paper also intends to suggest a new target classification method which uses the multiple reflections. We approximate the world as being two dimensional and assume that the targets constructing the indoor environment are plane, corner, and edge. Multiple reflection paths of an acoustic beam by a SONAR are analyzed, by simulations and the patterns of the TOFs(Time Of Flight) and angles of multiple reflections from each target are also analyzed. In addition, a new algorithm for target classification and localization is proposed. The results obtained in the basic experiments and real environmental tests show that the proposed method is proper and has the possibility for various applications.

서지기타정보

서지기타정보
청구기호 {MADE 97029
형태사항 vi, 74 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 : (SONAR Interface 회로도)
저자명의 영문표기 : Dong-Yeon Ryu
지도교수의 한글표기 : 권인소
지도교수의 영문표기 : In-So Kweon
학위논문 학위논문(석사) - 한국과학기술원 : 자동화및설계공학과,
서지주기 참고문헌 : p. 73-74
주제 초음파
소나
이동로봇
Ultrasound
SONAR
Mobile robot
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