대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
- /
- Pages.529-531
- /
- 2004
실내 자율주행 로봇을 위한 벽과 모퉁이 인식방법
Wall and Corner Recognition Method for Indoor Autonomous Mobile Robot
초록
For localization, it is very important for an autonomous mobile robot to be able to recognize indoor environment and match an object it detect to an object within a map developed either online or offline. Given the map defining the locations of geometric beacons like wall and comer existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method that can be conveniently used in recognizing the geometric beacons. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter. Experiment shows that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.