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센서 네트워크를 활용한 모바일 로봇의 Path Planning

Title
센서 네트워크를 활용한 모바일 로봇의 Path Planning
Translated Title
Path Planning of a Mobile Robot Using RF Strength in Sensor Networks
Authors
위성길김윤구이기동최정원박주현이석규
Issue Date
2009-02
Citation
한국정밀공학회지, 26(2), 63-70
Type
Article
Keywords
RF StrengthRF강도Sensor Network센서네트워크Shortest Path Finding최단경로탐색Triangulation Method삼각 측량법Grid Method그리드 측량법
ISSN
1225-9071
Abstract
This paper proposes a novel path finding approach of a mobile robot using RF strength in sensor network. In the experiments based on the proposed method, a mobile robot attempts to find its location, heading direction and the shortest path in the indoor environment. The experimental system consisting of mesh network shares node data and send them to base station. The triangulation and the proposed Grid method calculate the location and heading angle of the robot. In addition, the robot finds the shortest path by using the base station attached on it to receive data of environment around each node. Kalman filter reduces the straight line error when the robot estimates the strength of received signal. The experimental results show the effectiveness of the proposed algorithm.
URI
http://hdl.handle.net/20.500.11750/5829
Publisher
한국정밀공학회
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