로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제5권1호
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  • Pages.23-31
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  • 2010
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
권호 표지

로봇의 이동 및 센싱 불확실성이 고려된 네트워크 기반 로봇 시뮬레이션 프로그램

Network Based Robot Simulator Implementing Uncertainties in Robot Motion and Sensing

  • 서동진 (전자부품연구원 지능로보틱스 연구센터) ;
  • 고낙용 (조선대학교 제어계측로봇공학과) ;
  • 전세웅 (전자부품연구원 지능로보틱스 연구센터) ;
  • 이종배 (전자부품연구원 지능로보틱스 연구센터)
  • 투고 : 2009.12.17
  • 심사 : 2010.02.18
  • 발행 : 2010.02.26
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초록

This paper suggests a multiple robot simulator which considers the uncertainties in robot motion and sensing. A mobile robot moves with errors due to some kinds of uncertainties from actuators, wheels, electrical components, environments. In addition, sensors attached to a mobile robot can't make accurate output information because of uncertainties of the sensor itself and environment. Uncertainties in robot motion and sensing leads researchers find difficulty in building mobile robot navigation algorithms. Generally, a robot algorithm without considering unexpected uncertainties fails to control its action in a real working environment and it leads to some troubles and damages. Thus, the authors propose a simulator model which includes robot motion and sensing uncertainties to help making robust algorithms. Sensor uncertainties are applied in range sensors which are widely used in mobile robot localization, obstacle detection, and map building. The paper shows performances of the proposed simulator by comparing it with a simulator without any uncertainty.

키워드

참고문헌

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