대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2011년도 제42회 하계학술대회
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- Pages.1844-1845
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- 2011
초음파 센서 네트워크를 이용한 이동로봇의 위치 및 헤딩 추정
Localization of Mobile Robot using Ultrasonic Sensor Network
- Cheon, Hyo-Seok (Department of Electrical Engineering, Changwon National University) ;
- Hwang, Keun-Woo (Department of Electrical Engineering, Changwon National University) ;
- Park, Seung-Kyu (Department of Electrical Engineering, Changwon National University) ;
- Yoon, Tae-Sung (Department of Electrical Engineering, Changwon National University)
- 발행 : 2011.07.20
초록
In this paper, we compared several localization methods for indoor mobile robot navigation using a global ultrasonic sensor network. To estimate the pose of mobile robot in the sensor network, the range or range difference information with or without robot kinematics is used. Simulation results showed that the localization methods with robot kinematics have better performances.
키워드