제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2002년도 ICCAS
- /
- Pages.104.2-104
- /
- 2002
A Study on Indoor Mobile Robot Navigation Used Space and Time Sensor Fusion
- Jin, Tae-Seok (Pusan Nat'1 Univ.) ;
- Ko, Jae-Pyung (Pusan Nat'1 Univ.) ;
- Lee, Jang-Myung (Pusan Nat'1 Univ.)
- 발행 : 2002.10.01
초록
This paper proposes a sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent on the current data sets. As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system , the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is il lustrated by examples and...
키워드