Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Simultaneous Localization and Mapping For Swarm Robot

군집 로봇의 동시적 위치 추정 및 지도 작성

  • 문현수 (군산대학교 제어로봇공학과) ;
  • 신상근 (한국폴리텍 김제대학) ;
  • 주영훈 (군산대학교 제어로봇공학과)
  • Received : 2011.03.11
  • Accepted : 2011.05.30
  • Published : 2011.06.25
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Abstract

This paper deals with the simultaneous localization and mapping system using cooperative robot. For recognizing environment, swarm robot uses the ultrasonic sensors and vision sensor. Ultrasonic sensors measure the distance information, and vision sensor recognizes the predefined landmark. we used SURF with excellent quality and fast matching in order to recognize landmark. Due to measurement error of sensors, we fusion them using particle filter for accurate localization and mapping. Finally, we show the feasibility of the proposed method through some experiments.

본 논문에서는 군집 로봇의 동시적 위치 추정 및 지도 작성 시스템을 제안하였다. 로봇은 실험환경에서 주변 환경을 인식하기 위해 초음파센서와 비젼 센서를 이용하였다. 실험환경을 3개의 영역으로 분할하였고, 로봇은 각 영역에서 초음파 센서로 주변 환경에 대한 거리 정보를 측정하였고, SURF 알고리즘을 이용하여 비젼 센서로부터 입력받은 영상과 landmark의 특징점을 정합하여 랜드마크를 인식하였다. 제안된 방법은 센서값들에 대한 오차에 민감하지 않고 실험환경에 비교적 정확한 지도를 작성함으로써 응용 가능성을 증명하였다.

Keywords

References

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