Building a network model for a mobile robot using sonar sensors

초음파센서를 이용한 이동로보트의 네트워크환경모델 구성

  • Chung, Hak-Young (Dept.of Control Instrumentation Engineering, Seoul National University of Technology) ;
  • Park, Sol-lip (Samsung Electronics Corporation) ;
  • Lee, Jang-Gyu (Dept.of Electric Engineering, Seoul National University)
  • Published : 1999.07.01

Abstract

A mobile robot in FMS environment should be able to nevigate itself. Therefore, path planning is necessary for the mobile robot to perform its tasks without being lost. Path planning using a network model gives oprimal paths to every pair of nodes but building this model demands accurate information of environments. In this paper, a method to build a network model using sonar sensors is presented. The main idea is to build a quad tree model by using sonar sensors and convert the model to a network model for path planning. The new method has been implemented on a mobile robot. Experimental results show that the mobile robot constructs an accurate network model using inaccurate sonar data.

References

  1. Proc. IEEE Int. Conf. Robotics Automat. v.1 High resolution map from wide angle sonar H. P. Moravec;A. Elfes
  2. IEEE Trans. Pattern Analysis and Machine Intelligence Building a sonar map in a specular environment using a single mobile sensor O. Bozma;R. Kuc
  3. IEEE Trans. Robotics and Automation v.8 no.6 A mobile robot exploration algorithm A. Zelinsky
  4. IEEE Trans. Robotics and Automation v.RA-1 no.1 Distance functions and their application to robot path planning in the presence of obstacle E. G. Gilbert;D. W. Johnson
  5. Proc. 1992 IEEE/RSJ Conf. on Intelligent Robot and Systems Path planning for a mobile robot with grid type world model H. Chung;Y. S. Choi;J. G. Lee
  6. IEEE Trans. System, Man and Cybernetics v.SMC-13 no.3 Solving the fine-path problem by good representation of free space R. A. Brooks
  7. Directed Sonar Sensing for Mobile Robot Navigation J. J. Leonard;H. F. Durrant-whyte
  8. IEEE Trans. Pattern Analysis and Machine Intelligence v.PAMI-4 no.3 Distance transform for image represented by quadtrees H. Samet
  9. Proc. 1988 IEEE Conf. Of Robotics and Automation Planning collisionfree trajectories in time-varying environments: A two-level hierarchy K. Kant;S. W. Zucker
  10. Robotics & Computer-Integrated Manufacturing v.11 no.1 Global path planning for mobile robot with grid-type world model J. G. Lee;H. Chung
  11. 전기학회논문지 v.44 no.12 네트워크 분할기법을 이용한 자율주행운반체의 경로계획 (Ⅰ)-환경모델 구성 정학영;이장규
  12. IEEE J. Robotics Automat. v.RA-3 no.3 Sonar-based real-world mapping and navigation A. Elfes