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Computation of Robot Orientation and Localization using Repeating Feature of Ceiling Textures  

Chen, Hong-Xin (Division of Electronics and Information Engineering, Chonbuk National University)
Yang, Chang-Ju (Division of Electronics and Information Engineering, Chonbuk National University)
Lee, Wang-Hee (Division of Electronics and Information Engineering, Chonbuk National University)
Kim, Hyong-Suk (Division of Electronics and Information Engineering, Chonbuk National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.47, no.3, 2010 , pp. 5-12 More about this Journal
Abstract
A novel algorithm which computes the orientations and the locations of mobile robots with repeating feature of ceiling textures is proposed. For orientation computation, the relative angle between a strait line on a ceiling image and the center line of the robot is firstly computed. The relative angle is added to the global reference angles of straight lines of the ceiling and a group of robot orientation candidates is composed. The robot orientation is determined from such orientation candidate group by choosing the closest one to the previous robot orientation. Similarly, the location of the robot is determined from the robot location candidate group by choosing the closest one to the previous robot location, where robot location candidate group is composed by adding the relative location of the robot to global locations of neighboring nodes of the previous robot locations. The experiment has been done to test the accuracy of the algorithm in computing locations and orientations.
Keywords
로봇위치;방향;천장무의;교차점;직선;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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