이동 로봇의 확장 칼만 필터 기반 위치 추정을 위한 새로운 형태의 초음파 센서 배열
(주)코리아스칼라
- 최초 등록일
- 2023.04.05
- 최종 저작일
- 2017.08
- 7페이지/ 어도비 PDF
- 가격 4,000원
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서지정보
ㆍ발행기관 : 한국기계기술학회
ㆍ수록지정보 : 한국기계기술학회지 / 19권 / 4호
ㆍ저자명 : 이세진
영어 초록
The key motivation of this study is for a style of the sensor arrangement to have an effect on the localization performance of mobile robots in case of using sonar sensors. In general robot platforms with sonar sensors, sonar sensors are supposed to be radially arranged on their rotational axis of mobile robots. However, relevant limits to several functions required for their autonomous navigation occur unexpectedly, because a sonar sensor generally has the negative nature of its wide beam width together with the specular reflection. We present a new strategy of the sonar sensor arrangement capable of enhancing the localization performance. Sonar sensors are intended to be arranged nonradially (twistedly expressed in this paper) on their rotational axis. The localization scheme called STARER: Sonar-Twisted ARrangement localizER is based on the extended Kalman filter (EKF) with occupancy grid maps. Experimental results demonstrate the validity and robustness of the proposed method for the localization of mobile robots.
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