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


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.


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