Journal of the Institute of Electronics Engineers of Korea CI (전자공학회논문지CI)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Precise Localization for Mobile Robot Based on Cell-coded Landmarks on the Ceiling

천정 부착 셀코드 랜드마크에 기반한 이동 로봇의 정밀 위치 계산

  • Chen, Hongxin (Division of Electronics and Information Engineering, Chonbuk National University) ;
  • Wang, Shi (Division of Electronics and Information Engineering, Chonbuk National University) ;
  • Yang, Chang-Ju (Division of Electronics and Information Engineering, Chonbuk National University) ;
  • Lee, Jun-Ho (Department of Mechatronics Engineering, Chonbuk National University) ;
  • Kim, Hyong-Suk (Division of Electronics and Information Engineering, Chonbuk National University)
  • 진홍신 (전북대학교 전자정보공학부) ;
  • 왕실 (전북대학교 전자정보공학부) ;
  • 양창주 (전북대학교 전자정보공학부) ;
  • 이준호 (전북대학교 메카트로닉스공학과) ;
  • 김형석 (전북대학교 전자정보공학부)
  • Published : 2009.03.25
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Abstract

This paper presents a new mobile robot localization method for indoor robot navigation. The method uses color-coded landmarks on the ceiling and a camera is installed on the robot facing the ceiling. The proposed "cell-coded map", with the use of only nine different kinds of color-coded landmarks distributed in a particular way, helps reduce the complexity of the landmark structure. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.

실내 로봇의 자율 운행에 효과적인 새로운 로봇 위치 계산 방법을 제안하였다. 천정에 칼라 코드로 만든 위치 지시용 랜드마크를 부착하고, 천정을 향해 설치된 카메라에 의해 랜드마크가 인식되게하는 구조이다. 칼라 랜드마크에 사용한 코드는 9개의 다른 조합이 되도록 하여 상대적 위치를 지시하게 하며, 위치 계산이 모듈로 9 계산에 의해 용이하도록 하는 특별한 배치 방법을 사용하였다. 천정에 부착된 랜드마크 인식을 기반으로 한 위치 계산 알고리즘이므로, 실내에서 사용하는 것을 특징으로 하며, 상대적인 위치 코드를 사용하므로 사용 넓이에 제한이 없다. 이 논문에서는 랜드마크의 구조와 인식방법을 소개하며, 위치계산 결과의 정확성 실험결과도 제시하였다.

Keywords

References

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