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A sensor controller for map building of home service robot using low cost PSD sensor  

Hyun, Wong-Keun (호남대학교)
Lee, Chang-Hwan (호남대학교)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.10, no.10, 2006 , pp. 1897-1904 More about this Journal
Abstract
Home service robot must recognize and build map for indoor and components of the house such as furniture and chair etc. The previous researcher has developed a indoor map building system by using CCD camera and ultra sonic sensor. %no stems have some problem in such a way that (1) a distun resolution can be changed according to the number of pixel when we use a CCD camera system, (2) a measured distance can be decreased when it transmitted to the rubber because of being absorbed the sound energy. This paper represents an intelligent sensor controller of module has been developed by using optic PSD(Position Sensitive Detector) sensor any at a low price. To deduce the switching noise from beam power module and diffused reflection noise, we proposed a heuristic soft filter. The performance of the developed system was compared with ultra sonic sensor system by detecting the indoor wall environment. Some experiments were illustrated for the validity of the developed system.
Keywords
Home service robot; PSD sensor module; heuristic filter; map building;
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