Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Ring Array of Structured Light Image Based Ranging Sensor and Autonomous Navigation for Mobile Robot

이동로봇을 위한 링 배열 구조광 영상 기반 거리측정 센서 및 자율주행

  • Shin, Jin (Seoul National University of Science and Technology) ;
  • Yi, Soo-Yeong (Seoul National University of Science and Technology)
  • 신진 (서울과학기술대학교 전기공학과) ;
  • 이수영 (서울과학기술대학교 전기공학과)
  • Received : 2011.09.26
  • Accepted : 2012.04.11
  • Published : 2012.06.01
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Abstract

In the paper, we proposed a ring type structured light image based embedded ranging sensor for a mobile robot. Since the proposed ranging sensor obtains omnidirectional object distance, it is useful for autonomous navigation of a mobile robot. By matching the local omnidirectional distance map with a given global object map, it is possible to get position and heading angle of mobile robot in the global coordinates. Experiments for matching and navigation were carried out to verify the performance of the proposed ranging sensor.

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References

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