대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

초음파 센서 네트워크를 이용한 이동로봇의 위치 및 헤딩 추정

Localization of Mobile Robot using Ultrasonic Sensor Network

  • 천효석 (국립 창원대학교 전기공학과) ;
  • 황근우 (국립 창원대학교 전기공학과) ;
  • 박승규 (국립 창원대학교 전기공학과) ;
  • 윤태성 (국립 창원대학교 전기공학과)
  • Cheon, Hyo-Seok (Department of Electrical Engineering, Changwon National University) ;
  • Hwang, Keun-Woo (Department of Electrical Engineering, Changwon National University) ;
  • Park, Seung-Kyu (Department of Electrical Engineering, Changwon National University) ;
  • Yoon, Tae-Sung (Department of Electrical Engineering, Changwon National University)
  • 발행 : 2011.07.20
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, we compared several localization methods for indoor mobile robot navigation using a global ultrasonic sensor network. To estimate the pose of mobile robot in the sensor network, the range or range difference information with or without robot kinematics is used. Simulation results showed that the localization methods with robot kinematics have better performances.

키워드