Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)
- 2003.09a
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- Pages.252-255
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- 2003
Implementation of a Mobile Robot Using Landmarks
- Kim, Sang-Ju (Department of Electronics Engineering, Pusan Nat′l Univ.) ;
- Lee, Jang-Myung (Department of Electronics Engineering, Pusan Nat′l Univ.)
- Published : 2003.09.01
Abstract
In this paper, we suggest the method for a service robot to move safely from an initial position to n goal position in the wide environment like a building. There is a problem using odometry encoder sensor to estimate the position of n mobile robot in the wide environment like a building. Because of the phenomenon of wheel's slipping, a encoder sensor has the accumulated error of n sensor measurement as time. Therefore the error must be compensated with using other sensor. A vision sensor is used to compensate the position of a mobile robot as using the regularly attached light's panel on a building's ceiling. The method to create global path planning for a mobile robot model a building's map as a graph data type. Consequently, we can apply floyd's shortest path algorithm to find the path planning. The effectiveness of the method is verified through simulations and experiments.
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