Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1993.07a
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- Pages.387-390
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- 1993
Sensor-based Local Homing Algorithm using Fuzzy Theory
퍼지 이론을 사용한 Sensor-based Local Homing 알고리즘 개발
- Bang, S.W. (Dept of Electrical Engineering, KAIST) ;
- Lee, J.Y. (Dept of Computer Science, KAIST) ;
- Kim, S.D. (Dept of Electrical Engineering, KAIST) ;
- Yoo, W.P. (Dept of Electrical Engineering, KAIST) ;
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Chung, M.J.
(Dept of Electrical Engineering, KAIST)
- 방석원 (한국과학기술원 전기 및 전자공학과) ;
- 이지연 (한국과학기술원 전자계산학과) ;
- 김성도 (한국과학기술원 전기 및 전자공학과) ;
- 유원필 (한국과학기술원 전기 및 전자공학과) ;
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정명진
(한국과학기술원 전기 및 전자공학과)
- Published : 1993.07.18
Abstract
The most important technique for an indoor robot navigation is to find out the direction and the distance from the current location to the destination through the information achieved from the sensor. For this purpose, we suggest sensor-based local homing method which compares the destination sensory data with the current location. As for the sensors, we use the CCD camera and the ultrasonic sensor, and recorded entire 360 degree panoramic data. We match the features of the image data, and the distance and the direction of the matched point will be considered as fuzzy numbers. Through a simple fuzzy arithmetic, we infer the geometric relations between the current location and the destination location.
Keywords