대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2004년도 하계학술대회 논문집 D
- /
- Pages.2441-2443
- /
- 2004
복잡한 환경에서 자율이동 로봇의 문 통과 방법
Traversing A Door For Mobile Robot In Complex Environment
- Seo, Min-Wook (Department of Electrical Engineering, Korea University) ;
- Kim, Young-Joong (Department of Electrical Engineering, Korea University) ;
- Lim, Myo-Taeg (Department of Electrical Engineering, Korea University)
- 발행 : 2004.07.14
초록
This paper presents a method that a mobile robot finds location of doors in complex environments and safely traverses the door. A robot must be able to find the door in order that it achieves the behavior that is scheduled after traversing a door. PCA(Principle Component Analysis) algorithm using the vision is used for a robot to find the positions of door. Fuzzy controller using sonar data is used for a robot to avoid a obstacle and traverse the doors.
키워드