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센서융합을 이용한 모바일로봇 실내 위치인식 기법

Title
센서융합을 이용한 모바일로봇 실내 위치인식 기법
Translated Title
An Indoor Localization of Mobile Robot through Sensor Data Fusion
Authors
김윤구이기동
Issue Date
2009-12
Citation
로봇학회 논문지, 4(4), 312-319
Type
Article
Keywords
Sensor FusionLocalizationTDOASensor NetworkMobile Robot
ISSN
1975-6291
Abstract
This paper proposes a low-complexity indoor localization method of mobile robot under the dynamic environment by fusing the landmark image information from an ordinary camera and the distance information from sensor nodes in an indoor environment, which is based on sensor network. Basically, the sensor network provides an effective method for the mobile robot to adapt to environmental changes and guides it across a geographical network area. To enhance the performance of localization, we used an ordinary CCD camera and the artificial landmarks, which are devised for self-localization. Experimental results show that the real-time localization of mobile robot can be achieved with robustness and accurateness using the proposed localization method.
URI
http://hdl.handle.net/20.500.11750/5724
Publisher
한국로봇학회
Files:
There are no files associated with this item.
Collection:
ETC1. Journal Articles


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