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Conference Paper
로봇 주행 성능 평가를 위한 지도 정보 구축 기술
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- Issue Date
- 2010-12
- Citation
- 대한전자공학회 종합 학술 대회 (하계) 2010, pp.1328-1331
- Publisher
- 대한전자공학회
- Language
- Korean
- Type
- Conference Paper
- Abstract
- This paper proposes the method to evaluate the performance of mobile robot navigation under the existence of surrounding objects at robot's test bed. The method explores the position and velocity tracking to assess the performance of navigation. To achieve that goal, the position and velocity of mobile robot need to be accurately localized by using the maps. We use two kinds of maps which are artificial landmark map and the object map. The artificial landmark map contains the position information of ultrasonic-based beacons installed to the ceiling corner and is used to measure the velocity and the position of the robot, while the object map gives the position information of surrounding objects located in the test bed and is used to represent the trajectories of the mobile robot. The test bed has been built at the Electronics and Telecommunications Research Institute (ETRI), Daejeon, South Korea. The proposed method gives an effective way to build the artificial landmark map and the object map in the test bed and successfully outperforms the evaluation of navigation performance for mobile robot.
- KSP Keywords
- Artificial Landmarks, Mobile Robot Navigation, Position and Velocity Tracking, Position information, Research institute, South Korea, Test-bed, navigation performance