The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
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Indoor Environment Recognition Method for Indoor Autonomous Mobile Robot

실내 자율주행 로봇을 위한 실내 환경 인식방법

  • 이만희 (광운대학 대학원 제어계측학과) ;
  • 조황 (광운대학 대학원 제어계측학과)
  • Published : 2005.06.01
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Abstract

For an autonomous mobile robot localization, it is very important for the robot to be able to recognize indoor environment and match a detected object to an object defined within a map developed either online or of offline. Given the map defining the locations of geometric beacons like wall and corner existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method practically applicable in recognizing the geometric beacons in real-time. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter Experimental results are provided to demonstrate that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.

Keywords

References

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