저가 적외선센서를 장착한 이동로봇에 적용 가능한 격자지도 작성 및 샘플기반 정보교합Grid Map Building and Sample-based Data Association for Mobile Robot Equipped with Low-Cost IR Sensors
- Other Titles
- Grid Map Building and Sample-based Data Association for Mobile Robot Equipped with Low-Cost IR Sensors
- Authors
- 권태범; 송재복
- Issue Date
- 2009
- Publisher
- 한국로봇학회
- Keywords
- Grid Map Building; Data Association; Low-cost Sensor; Mobile Robot
- Citation
- 로봇학회 논문지, v.4, no.3, pp.169 - 176
- Indexed
- KCI
OTHER
- Journal Title
- 로봇학회 논문지
- Volume
- 4
- Number
- 3
- Start Page
- 169
- End Page
- 176
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/121322
- ISSN
- 1975-6291
- Abstract
- Low-cost sensors have been widely used for mobile robot navigation in recent years. However, navigation performance based on low-cost sensors is not good enough to be practically used. Among many navigation techniques, building of an accurate map is a fundamental task for service robots, and mapping with low-cost IR sensors was investigated in this research. The robot’s orientation uncertainty was considered for mapping by modifying the Bayesian update formula. Then, the data association scheme was investigated to improve the quality of a built map when the robot’s pose uncertainty was large. Six low-cost IR sensors mounted on the robot could not give rich data enough to align the range data by the scan matching method, so a new sample-based method was proposed for data association. The real experiments indicated that the mapping method proposed in this research was able to generate a useful map for navigation.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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