The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Experimental Research on the Characteristics of Indoor Positioning Systems and Mobile Robot Navigation

실내용 위치센서의 특성과 이동로봇의 주행제어에 관한 실험적 연구

  • Received : 2010.01.08
  • Accepted : 2010.08.12
  • Published : 2010.08.31
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Abstract

For indoor mobile robots, the performance of autonomous navigation is affected by a variety of factors. In this paper, we focus on the characteristics of indoor absolute positioning systems. Two commercially available sensor systems are experimentally tested under various conditions. Mobile robot navigation experiments were carried out, and the results show that resultant performance of navigation is highly dependent upon the characteristics of positioning systems. The limitations and characteristics of positioning systems are analyzed from both quantitative and qualitative point of view. On the basis of the analysis, the relationship between the positioning system characteristics and the controller design are presented.

Keywords

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