한국지능시스템학회:학술대회논문집 (Proceedings of the Korean Institute of Intelligent Systems Conference)
- 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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- Pages.240-243
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- 2003
Mobile Robot Navigation using a Dynamic Multi-sensor Fusion
- Kim, San-Ju (Department of Electronics Engineering, Pusan National University) ;
- Jin, Tae-Seok (Department of Electronics Engineering, Pusan National University) ;
- Lee, Oh-Keol (Department of Electrical Engineering, Dongeui Institute of Technology) ;
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Lee, Jang-Myung
(Department of Electronics Engineering, Pusan National University)
- 발행 : 2003.09.01
초록
In this study, as the preliminary step far developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results from the simulations run.
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