제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제16권11호
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  • Pages.1068-1073
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  • 2010
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
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레이저 스캐너의 틸트 각도 조절을 통한 다양한 환경에서의 연석 탐지 및 추종

Curb Detection and Following in Various Environments by Adjusting Tilt Angle of a Laser Scanner

  • 이동욱 (고려대학교 메카트로닉스 학과) ;
  • 이용주 (고려대학교 기계공학부) ;
  • 송재복 (고려대학교 기계공학부) ;
  • 백주현 (LIG 넥스원(주) 연구개발본부) ;
  • 유재관 (LIG 넥스원(주) 연구개발본부)
  • 투고 : 2010.04.01
  • 심사 : 2010.09.02
  • 발행 : 2010.11.01
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초록

When a robot navigates in an outdoor environment, a curb or a sidewalk separated from the road can be used as a robust feature. However, most algorithms could detect the curb only in the straight road, and could not detect highly curved corners, ramps, and so on. This paper proposes an algorithm which enables the robot to detect and follow the curbs in various types of roads. In the proposed method, the robot tilts a laser scanner and computes the error between the predicted and the measured distances to the road in front of the robot. Based on this error, the curbs at corners and curves can be classified. It is also difficult to detect a curb near a ramp because of its low height. In this case, the robot also tilts a laser scanner to detect the curb beyond the ramp. Once the robot classifies the road into the curve, corner, ramp, the robot selects the proper navigation strategies depending on the classified road types and is able to continue to detect and follow the curb. The results of a series of experiments show that the robot can stably detect and follows the curb in curves, corners and ramps as well as the straight road.

키워드

참고문헌

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