한국전자통신학회논문지 (The Journal of the Korea institute of electronic communication sciences)

한국전자통신학회 (Korea Institute of Electronic Communication Science)
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마커와 카메라를 이용한 스키드 구동 이동 로봇의 회전 운동 분석

Analysis of Rotational Motion of Skid Steering Mobile Robot using Marker and Camera

  • 하종은 (서울과학기술대학교 기계.자동차공학과)
  • Ha, Jong-Eun (Dept. of Mechanical & Automotive Engineering, Seoul National University of Science and Technology)
  • 투고 : 2015.12.04
  • 심사 : 2016.02.24
  • 발행 : 2016.02.25
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초록

본 논문에서는 이동 로봇에 마커를 부착하여 이를 카메라를 통해 자동으로 추출하여 이동 로봇의 운동 특성을 분석하는 방법에 대해 다루도록 한다. 이동 로봇의 구동을 위한 제어 알고리듬의 개발이나 자율 이동 관련 알고리듬 개발시 인자값에 따른 운동 특성 분석은 중요한 부분이다. 이의 분석을 위해 본 논문에서는 네 개의 체스보드 형태의 마커를 이동 로봇에 부착하여 사용하도록 한다. 이들 네 개의 마커들은 동일 평면에 존재하도록 배치하도록 한다. 평면 호모그라피를 이용하여 로봇의 실제 이동량을 계산하도록 한다. 제시된 방법은 P3-AT 로봇을 이용하여 실험을 수행하였으며 안정적인 운동 분석이 가능하였다.

This paper deals with analysis of the characteristics of mobile robot's motion by automatic detection of markers on a robot using a camera. Analysis of motion behaviors according to parameters is important in developing control algorithm for robot operation or autonomous navigation. For this purpose, we use four chessboard patterns on the robot. Their location on the robot is adjusted to be on single plane. Homography is used to compute the actual amount of movement of the robot. Presented method is tested using P3-AT robot and it gives reliable results.

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참고문헌

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