• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.934-937
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• 2003

In this paper, authors use a stereo vision system based on the visual model of human and establish inexpensive method that recognizes moving distance using characteristic points around the robot. With the stereovision. the changes of the coordinate values of the characteristic points that are fixed around the robot are measured. Self-displacement and self-localization recognition system is proposed from coordination reconstruction with those changes. To evaluate the proposed system, several characteristic points that is made with a LED around the robot and two cheap USB PC cameras are used. The mobile robot measures the coordinate value of each characteristic point at its initial position. After moving, the robot measures the coordinate values of the characteristic points those are set at the initial position. The mobile robot compares the changes of these several coordinate values and converts transformation matrix from these coordinate changes. As a matrix of the amount and the direction of moving displacement of the mobile robot, the obtained transformation matrix represents self-displacement and self-localization by the environment.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1754-1755
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• 2007

영구자석을 사용한 마커가 설치된 자기장 이동 경로에서 이동 로봇의 경로 인식을 위한 위치인식 시스템이다. 저가의 홀센서를 일정 간격의 열로 배치한 센서를 설계 제작하고, 그 센서를 이용하여 측정된 마커의 자계 값을 이용하여 경로상의 위치를 인식할 수 있도록 하였다. 마커의 극성을 인식하는 새로운 방법을 제시하고, 인식된 극성을 코드화하여 경로상의 특이점들에 배치함으로써 경로 이동 중에 그 점들의 위치를 인식하도록 하였으며, 로봇은 그 위치에서 미리 정해진 행동을 하도록 프로그램 하였다. 센서들 간의 통신 방법을 논하였고, 각 센서들에서 얻어진 정보로부터 이동 로봇의 경로상의 위치인 측방향 변위 오차와 방향각 오차를 기하학적으로 산출한다.

• Journal of Advanced Marine Engineering and Technology
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• v.37 no.1
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• pp.114-120
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• 2013

Recently, navigation systems based on wireless communication have been applied to the internal structures such as building or ship. If a stable azimuth information is obtained, these systems can effectively guide the direction of the user's progress through the information and then can improve the performance of guidance. Since conventional method which has acquired an azimuth information using geomagnetic and acceleration sensor(azimuth sensor hereafter) is sensitive to the effects of the magnetic field, it has unstable error range according to the surrounding environment. In order to improve these problems, this paper presents a new relative azimuth estimation algorithm using the displacement of a mobile node and its rotation angle based on Wireless communication. For the performance assessment of the proposed algorithm, experiments using rotating arm are performed and the results are confirmed that the proposed system can estimate the relative azimuth without using additional sensors.