Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)

  • 2004.10a
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  • Pages.832-835
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  • 2004
  • /
  • 2005-8446(pISSN)
Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Development of the Device for Autonomous Mobile Robot to Recognize Surface Obstacles

자율이동 로봇의 지면 장애물 인식 장치 개발

  • 서대성 (과학기술연합대학원 대학교 한국생산기술연구원 소속 가상공학 전공) ;
  • 이호길 (한국생산기술연구원) ;
  • 김홍석 (한국생산기술연구원) ;
  • 류영선 (한국생산기술연구원) ;
  • 양광웅 (한국생산기술연구원) ;
  • 김태주 (한국생산기술연구원)
  • Published : 2004.10.01
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Abstract

In this paper, we implement a sensor which can perceive obstacles. We constructed it with a laser emitting a structured light and a small pc camera. It is cheap and can measure the precise sizes of the obstacles. Ultrasonic arrays and laser scanners are used generally to perceive obstacles in the autonomous mobile robot until now. However we knew that they can perceive big obstacles well, but cannot perceive small obstacles on the ground by experiments. We mounted this equipment to our robot and use it to perceive the obstacles of the front side. Our robot can recognize the obstacles of 10mm height. We expect that this equipment will be useful because it is cheap but work well.

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