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학술대회 The Design of Practical Mapping System for Mobile Robots Using Laser Range Sensor
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저자
이유철, 유원필
발행일
200910
출처
SENSORS 2009, pp.1482-1486
출판사
IEEE
DOI
https://dx.doi.org/10.1109/ICSENS.2009.5398457
협약과제
09MC3200, u-Robot 인지인프라 기술개발(주관 : u-City 환경기반 하이브리드 u-로봇 서비스 시스템 기술개발), 유원필
초록
This paper proposed an efficient mapping system which has been implemented on a mobile cart equipped with a laser range sensor and dead reckoning sensors. The practical mapping system to generate accurate maps in unknown environments is one of the main requirements for mobile robots. The mapping system is divided into hardware and software parts. The hardware part, mobile cart, consisted of two encoders, laser range sensor and a DSP board. Two encoders mounted on each back wheel of the mobile cart measure the distance traveled. The laser range sensor measures the distance from the nearest object to the sensor. The DSP board synchronizes the measured data from the encoders and the laser sensor and provides them to software part. The software part builds a metric map in the environment based on extended Kalman filter (EKF) localization that takes into account both the distance traveled by encoders and the information gathered by laser sensor to estimating the position of mobile cart. The proposed system accommodates the demand for the modest and user-friendly mapping system which can be used to explore and construct the map into the robot environment. This strategy is based on a human-interactive system design and a strong mathematical foundations research; this is the distinctive feature of our approach and constitutes the main original contribution of this paper. ©2009 IEEE.
KSP 제안 키워드
Dead reckoning, Extended kalman fiLTEr, Interactive System Design, Laser range sensor, Laser sensor, Mobile robots, Unknown Environments, User-friendly, hardware and software, mapping system, mathematical foundations