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Journal Article 이동로봇을 위한 IR 랜드마크 기반의실시간 실내 측위 시스템
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Authors
이재영, 채희성, 유원필
Issue Date
2006-09
Citation
Transactions on Control, Automation and Systems Engineering, v.12, no.9, pp.868-875
ISSN
1229-5140
Publisher
제어로봇시스템학회
Language
Korean
Type
Journal Article
DOI
https://dx.doi.org/10.5302/J.ICROS.2006.12.9.868
Abstract
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 Keywords
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