GMM-Kalman 필터를 이용한 이동 로봇의 실내 위치 추정 정확도 향상 연구

서지정보

ㆍ발행기관 : 한국기계기술학회 ㆍ수록지정보 : 한국기계기술학회지 / 25권 / 2호
ㆍ저자명 : 박종호 , 유성구 , 설남오

영어 초록

In this study, we present an algorithm for indoor robot position estimation. Estimating the position of an indoor robot using a fixed imaging device obviates the need for complex sensors or hardware, enabling easy estimation of absolute position through marker recognition. However, location estimation becomes impossible when the device moves away from the surrounding obstacles or the screen, presenting a significant drawback. To solve this problem, we propose an algorithm that improves the precision of robot indoor location estimation using a Gaussian Mixture Model(GMM) and a Kalman filter estimation model. We conducted an actual robot operation experiment and confirmed accurate position estimation, even when the robot was out of the image.

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