전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제65권10호
  • /
  • Pages.1738-1745
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  • 2016
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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GPU 기반 SIFT 방법과 가상의 힘을 이용한 이동 로봇의 위치 인식 및 자율 주행 제어

Localization and Autonomous Navigation Using GPU-based SIFT and Virtual Force for Mobile Robots

  • Tak, Myung Hwan (Dept. of Control and Robotics Engineering, Kunsan National University) ;
  • Joo, Young Hoon (Dept. of Control and Robotics Engineering, Kunsan National University)
  • 투고 : 2016.08.25
  • 심사 : 2016.08.29
  • 발행 : 2016.10.01
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초록

In this paper, we present localization and autonomous navigation method using GPU(Graphics Processing Unit)-based SIFT(Scale-Invariant Feature Transform) algorithm and virtual force method for mobile robots. To do this, at first, we propose the localization method to recognize the landmark using the GPU-based SIFT algorithm and to update the position using extended Kalman filter. And then, we propose the A-star algorithm for path planning and the virtual force method for autonomous navigation of the mobile robot. Finally, we demonstrate the effectiveness and applicability of the proposed method through some experiments using the mobile robot with OPRoS(Open Platform for Robotic Services).

키워드

참고문헌

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