대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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실내용 이동 로봇의 자기 위치 추정을 위한 전역 초음파 센서 시스템

Global Ultrasonic Sensor System for Self-localization of an Indoor Mobile Robot

  • 진재호 (전북대학교 전자정보공학부, 메카트로닉스 연구센터) ;
  • 이수영 (전북대학교 전자정보공학부, 공학연구원 공업기술연구센터)
  • Jin, Jae-Ho (Division of Electronics and Information Engineering Chonbuk National University, Mechatronics Research Center) ;
  • Yi, Soo-Yeong (The Research Center of Industrial Technology, Engineering Research Institute, Chonbuk National University)
  • 발행 : 2002.07.10
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초록

A global ultrasonic sensor system for self-localization of an indoor mobile robot is proposed in this paper. By the global ultrasonic sensor system, it is meant several ultrasonic transmitters fixed at some positions in the world coordinate and the receiver in the moving coordinate of a mobile robot. In order to achieve the synchronization between an ultrasonic transmitter and receiver and to avoid the crosstalk among the ultrasonic transmitters, simple radio frequency transmitters and receivers are adopted. Experiments are carried out to verify the effectiveness of the proposed ultrasonic sensor system.

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