한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2004년도 추계학술대회 논문집
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- Pages.1475-1478
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- 2004
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- 2005-8446(pISSN)
비전과 초음파 센서를 이용한 임의 환경에서 2족 로봇의 경로계획을 위한 맵 빌딩
Map Building to Plan the Path for Biped Robot in Unknown Environments Using Vision and Ultrasonic Sensors
초록
This paper describes map building for the path planning to avoid obstacles with vision sensor and ultrasonic sensor. We get the 2 dimensional information from the processed images of CCD sensor and 1 dimensional range information from ultrasonic sensor. I proposed a way to generate the map which contains these two kinds of information in the program. And we made the biped robot which have 20 DOF with these sensors and get good experimental result to prove the validity of the proposed method.
키워드