서지주요정보
실내 조명등과 초음파 센서를 사용한 이동 로봇의 자율 주행 = Mobile robot navigation using indoor lights and ultrasonic sensors
서명 / 저자 실내 조명등과 초음파 센서를 사용한 이동 로봇의 자율 주행 = Mobile robot navigation using indoor lights and ultrasonic sensors / 박현근.
발행사항 [대전 : 한국과학기술원, 1998].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8008842

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 98052

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

리뷰정보

초록정보

This paper presents a navigation method for an indoor mobile robot. The proposed method employs indoor lights as landmarks and an encoder for localization and ultrasonic sensors for obstacle avoidance. Indoors lights are easily found in any man-made environment: for example, office, museum, exhibition hall, and so on. Therefore, if indoor lights are used as landmarks for mobile robot navigation, no extra setup is needed. In addition, since they emit lights, they have distinct grey level from the other objects in an image. Accordingly, indoor ligths as landmarks have an advantage that they can easily be extracted from the other objects by a simple binarization. In this work, we implement the robot system with a single camera and ultrasonic sensors. The vision system calculates current positions of the robot from landmarks and ultrasonic sensors are used to avoid obstacles. Localization experiment by the vision system is performed to show the plausibility of the proposed method using indoor lights as landmarks. The accuracy of the localization is presented and real-time issue is also considered. To evaluate the performance of the proposed method, robot navigation is performed by integrating the localization. method and obstacle avoidance by vector-field approach using ultrasonic sensors.

서지기타정보

서지기타정보
청구기호 {MEE 98052
형태사항 iii, 62 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Hyun-Keun Park
지도교수의 한글표기 : 정명진
지도교수의 영문표기 : Myung-Jin Chung
학위논문 학위논문(석사) - 한국과학기술원 : 전기및전자공학과,
서지주기 참고문헌 : p. 59-62
주제 자율 주행
위치 추정
조명등
초음파 센서
Navigation
Localization
Vision
Ultrasonic
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