대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)

대한전자공학회 (The Institute of Electronics and Information Engineers)
권호 표지

센서 퓨전을 이용한 시각 장애인 유도 로봇의 실내주행 연구

A Study on the Indoor Navigation of Guiding Robot for the Visually Impaired Using Sensor Fusion

  • 장철웅 (한국산업기술대학교 전자공학과) ;
  • 정기호 (한국산업기술대학교 전자공학과) ;
  • 염문진 (한국산업기술대학교 전자공학과) ;
  • 심현민 (한국산업기술대학교 전자공학과) ;
  • 홍영기 (한국산업기술대학교 전자공학과) ;
  • 심재홍 (한국산업기술대학교 전자공학과) ;
  • 이응혁 (한국산업기술대학교 전자공학과)
  • Jang, Chul-Woong (Department of Electronic Engineering, Korea Polytechnic University) ;
  • Jung, Ki-Ho (Department of Electronic Engineering, Korea Polytechnic University) ;
  • Yeom, Moon-Jin (Department of Electronic Engineering, Korea Polytechnic University) ;
  • Shim, Hyun-Min (Department of Electronic Engineering, Korea Polytechnic University) ;
  • Hong, Yeong-Ki (Department of Electronic Engineering, Korea Polytechnic University) ;
  • Shim, Jae-Hong (Department of Electronic Engineering, Korea Polytechnic University) ;
  • Lee, Eung-Hyuk (Department of Electronic Engineering, Korea Polytechnic University)
  • 발행 : 2006.06.21
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초록

In this paper, we propose the sensor fusing method for the obstacle avoidance of guiding robot for the visually impaired In our system, we acquire obstacles distances information using ultrasonic sensors, and its width is acquired by image sensor. We also compute avoidance angle using are distance and width information gained by sensor. After the robot avoid the obstacle by computed angle, the robot returns to its original path using odometry. The robot consists of the SA1110-based controller, sensory part using sonar array and image sensor, and motion part using differential drive for climbing stairs. This system use the embedded linux for OS, and also is developed by the QT/Embedded for GUI.

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