차량형 이동로봇의 위치 추정 정밀도 향상 기법 및 자동 주차 제어
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이국태 | - |
dc.contributor.author | 정우진 | - |
dc.contributor.author | 장효환 | - |
dc.date.accessioned | 2021-09-09T15:32:44Z | - |
dc.date.available | 2021-09-09T15:32:44Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2008 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/125274 | - |
dc.description.abstract | Recently, automatic parking assist systems are commercially available in some cars. In order to improve the reliability and the accuracy of parking control, pose uncertainty of a vehicle and some experimental issues should be solved. In this paper, following three schemes are proposed. (1) Odometry calibration scheme for the Car-Like Mobile Robot.(CLMR) (2) Accurate localization using Extended Kalman Filter(EKF) based redundant odometry fusion. (3) Trajectory tracking controller to compensate the tracking error of the CLMR. The proposed schemes are experimentally verified using a miniature Car-Like Mobile Robot. This paper shows that odometry accuracy and trajectory tracking performance can be dramatically improved by using the proposed schemes. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 차량형 이동로봇의 위치 추정 정밀도 향상 기법 및 자동 주차 제어 | - |
dc.title.alternative | Improvement of Odometry Accuracy and Parking Control for a Car-Like Mobile Robot | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 정우진 | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.3, no.1, pp.16 - 22 | - |
dc.relation.isPartOf | 로봇학회 논문지 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 3 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 16 | - |
dc.citation.endPage | 22 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001415981 | - |
dc.description.journalClass | 2 | - |
dc.subject.keywordAuthor | Car-Like Mobile Robot | - |
dc.subject.keywordAuthor | Odometry | - |
dc.subject.keywordAuthor | Calibration | - |
dc.subject.keywordAuthor | Automatic Parking Control | - |
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