대한기계학회논문집 (Transactions of the Korean Society of Mechanical Engineers)
- 제17권9호
- /
- Pages.2191-2204
- /
- 1993
- /
- 1225-5963(pISSN)
DOI QR Code
이동 로봇의 실시간 자세 추정을 위한 센서 시스템의 개발
Development of a Sensor System for Real-Time Posture Measurement of Mobile Robots
초록
A sensor system has been developed to measure the posture(position and orientation) of mobile robots working in industrial environments. The proposed sensor system consists of a CCD camera, retro-reflective landmarks, a strobe unit and an image processing board. The proposed hardware system can be built in economic price compared to commercial vision systems. The system has the capability of measuring the posture of mobile robots within 60 msec when a 386 personal computer is used as the host computer. The experimental results demonstrated a remarkable performance of the proposed sensor system in the posture measurement of mobile robots - the average error in position is less than 3 mm and the average error in orientation is less than 1.5.
키워드