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http://dx.doi.org/10.5302/J.ICROS.2007.13.3.249

Development of Sensor Device and Probability-based Algorithm for Braille-block Tracking  

Roh, Chi-Won (아주대학교 전자공학부)
Lee, Sung-Ha (현대자동차)
Kang, Sung-Chul (한국과학기술연구원)
Hong, Suk-Kyo (아주대학교 전자공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.3, 2007 , pp. 249-255 More about this Journal
Abstract
Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.
Keywords
braille-block; MCL algorithm; laser sensor scan device; rescue robot; autonomous navigation;
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