Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference (한국전기전자재료학회:학술대회논문집)
- 2003.05b
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- Pages.62-65
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- 2003
Distance Data Analysis of Indoor Environment for Ultrasonic Sensor Error Decrease
초음파 센서 오차 감소를 위한 실내 환경의 거리 자료 분석
- Lim, Byung-Hyun ;
- Ko, Nak-Yong (Dept. of Control & Instrumentation Eng. Chosun Univ.) ;
- Hwang, Jong-Sun (Provincial College of Damyang.) ;
- Kim, Yeong-Min (Provincial College of Damyang.) ;
- Park, Hyun-Chul (Chonbuk Science College)
- Published : 2003.05.16
Abstract
When a mobile robot moves around autonomously without man-made corrupted bye landmarks, it is essential to recognize the placement of surrounding objects especially for self localization, obstacle avoidance, and target classification and localization. To recognize the environment we use many Kinds of sensors, such as ultrasonic sensors, laser range finder, CCD camera, and so on. Among the sensors, ultra sonic sensors(sonar)are unexpensive and easy to use. In this paper, we analyze the sonar data and propose a method to recognize features of indoor environment. It is supposed that the environments are consisted of features of planes, edges, and corners, For the analysis, sonar data of plane, edge, and corner are accumulated for several given ranges. The data are filtered to eliminate some noise using the Kalman filter algorithm. Then, the data for each feature are compared each other to extract the character is ties of each feature. We demonstrate the applicability of the proposed method using the sonar data obtained form a sonar transducer rotating and scanning the range information around a indoor environment.