상세정보
학술대회
초음파를 이용한 실내 위치 인식 시스템
Cited - time in 
Download 0 time
Share 
Download 0 time
Share
- 발행일
- 200404
- 출처
- 통신 정보 합동 학술 대회 (JCCI) 2004, pp.183-186
- 협약과제
- 03MM1100, 4세대 이동통신 기술개발, 한기철
- 초록
- A precise embedded ultrasonic localization system is developed for autonomous mobile robots in indoor environments, which is essential for autonomous navigation of mobile robots with various tasks. Although ultrasonic sensors are more cost-effective than other sensors such as LRF (Laser Range Finder) and vision, they suffer inaccuracy and directional ambiguity. First, we apply the matched filter to measure the distance precisely. For resolving the computational complexity of the matched filter for embedded systems, we propose a new matched filter algorithm with fast computation in three points of view. Second, we propose an accurate ultrasonic localization system which consists of three ultrasonic receivers on the mobile robot and two or more transmitters on the ceiling. Last, we add an extended Kalman filter to estimate position and orientation. Various simulations and experimental results show the effectiveness of the proposed system.
- KSP 제안 키워드
- Autonomous mobile robots, Computational complexity, Embedded system, Extended kalman fiLTEr, Filter algorithm, Indoor Environment, Laser range finder, Localization systems, Position and orientation, Ultrasonic Localization, autonomous navigation