서지주요정보
다개체 로봇 시스템에서의 협동을 통한 새로운 위치 추정 방법 = A new cooperative localization method in multi-agent robotic system
서명 / 저자 다개체 로봇 시스템에서의 협동을 통한 새로운 위치 추정 방법 = A new cooperative localization method in multi-agent robotic system / 장준수.
저자명 장준수 ; Jang, Jun-Su
발행사항 [대전 : 한국과학기술원, 2001].
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소장정보

등록번호

8011943

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 01084

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초록정보

Localization is a fundamental problem in robot navigation. In this thesis we present a new cooperative localization method for the multi-agent robotic system. Cooperative localization deals with the estimation of poses of multiple robots in associations with their sensor data. Most existing localization approaches refer to the single robot case. That is, a pose of one robot is decided by its own sensor data. In this case, all robots should have an expensive sensor that can measure the robot pose in the global frame. But if we use a advantage of multi-agent system, cooperation, localization can be done more effectively. The system in this thesis is a heterogeneous multi-agent robotic system. One robot has a laser range finder and others have vision camera. We may think that the laser range finder has a better ability for localization than vision camera. So if the laser range finder is used to get information of others as well as of itself. Robot soccer system is used in this paper. It gives us good features, line segments, edges. Using these features, we perform cooperative localization and show some simulations and experimental results.

서지기타정보

서지기타정보
청구기호 {MEE 01084
형태사항 iii, 68 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Jun-Su Jang
지도교수의 한글표기 : 김종환
공동교수의 한글표기 : 정명진
지도교수의 영문표기 : Jong-Hwan Kim
공동교수의 영문표기 : Myung-Jin Chung
학위논문 학위논문(석사) - 한국과학기술원 : 전기및전자공학전공,
서지주기 참고문헌 : p. 66-68
주제 위치추정
다개체
협동
localization
multi-agent
cooperative
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