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

Korea Institute of Electronic Communication Science (한국전자통신학회)
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Performing Missions of a Small Biped Walking Robot using Image Processing

영상 처리를 이용한 소형 이족 보행 로봇의 임무 수행

  • Kim, Nam-Hun ;
  • Ha, Jong-Eun (Dept. of Mechanical & Automotive Engineering, Seoul National University of Science and Technology)
  • 김남훈 (서울과학기술대학교 자동차공학과 대학원) ;
  • 하종은 (서울과학기술대학교 기계.자동차 공학과)
  • Received : 2016.11.12
  • Accepted : 2016.12.24
  • Published : 2016.12.31
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Abstract

This paper deals with performing missions of a small biped robot using image processing. Localization is required for stable walking under a given map. Localization of the robot is done by extracting boundary on a driving course. Estimation of three parameters including location and orientation is required when walking on a plane. In this paper, two parameters including the location of the robot along the vertical direction of robot's walking direction and an orientation is estimated for localization. Color is used for the detection of obstacles and normalized values are used for the stable detection.

본 논문에서는 영상 처리를 이용한 소형 이족 로봇의 임무 수행에 대해 다루도록 한다. 주어진 지도상에서 안정적인 보행을 위해서는 위치 인식이 필요하게 된다. 주행 경로상의 경계를 추출하여 로봇의 위치 정보를 추정하도록 한다. 평면상에서 운동하는 경우 위치와 방향으로 이루어진 세 개의 인자의 추정이 필요하다. 본 논문에서는 주행 경로상의 수직 방향의 로봇의 위치와 진행 방향등 두 개의 인자를 추정하여 위치 추정을 하도록 한다. 장애물 검출을 위해서는 칼라 정보를 이용하도록 하며 안정적인 검출을 위해 정규화된 값을 이용하도록 한다.

Keywords

References

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