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실내용 위치센서의 특성과 이동로봇의 주행제어에 관한 실험적 연구Experimental Research on the Characteristics of Indoor Positioning Systems and Mobile Robot Navigation
- Other Titles
- Experimental Research on the Characteristics of Indoor Positioning Systems and Mobile Robot Navigation
- Issue Date
- 2010
- Publisher
- 한국로봇학회
- Keywords
- Mobile Robot; Autonomous Navigation; Absolute Positioning System; Position Sensor; Beacon
- Citation
- 로봇학회 논문지, v.5, no.3, pp.231 - 239
- Indexed
- KCI
OTHER
- Journal Title
- 로봇학회 논문지
- Volume
- 5
- Number
- 3
- Start Page
- 231
- End Page
- 239
- ISSN
- 1975-6291
- Abstract
- For indoor mobile robots, the performance of autonomous navigation is affected by a variety of factors. In this paper, we focus on the characteristics of indoor absolute positioning systems. Two commercially available sensor systems are experimentally tested under various conditions. Mobile robot navigation experiments were carried out, and the results show that resultant performance of navigation is highly dependent upon the characteristics of positioning systems. The limitations and characteristics of positioning systems are analyzed from both quantitative and qualitative point of view. On the basis of the analysis, the relationship between the positioning system characteristics and the controller design are presented.
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