상세정보
학술지
이동 로봇을 위한 IR 랜드마크 기반의 실시간 실내 측위 시스템
- 발행일
- 200609
- 출처
- Transactions on Control, Automation and Systems Engineering, v.12 no.9, pp.868-875
- ISSN
- 1229-5140
- 출판사
- 제어로봇시스템학회
- 협약과제
- 06MI1300, USN 기반 Ubiquitous Robotic Space 기술 개발, 유원필
- 초록
- The localization is one of the most important issues for mobile robot. This paper describes a novel localization system for the development of a location sensing network. The system comprises wirelessly controlled infrared landmarks and an image sensor which detects the pixel positions of infrared sources. The proposed localization system can operate irrespective of the illumination condition in the indoor environment. We describe the operating principles of the developed localization system and report the performance for mobile robot localization and navigation. The advantage of the developed system lies in its robustness and low cost to obtain location information as well as simplicity of deployment to build a robot location sensing network. Experimental results show that the developed system outperforms the state-of-the-art localization methods.
- KSP 제안 키워드
- Illumination conditions, Image Sensor, Indoor Environment, Localization and navigation, Localization method, Localization systems, Location information(GPS), Low-cost, Mobile robot localization, Sensing Network, infrared sources