한국해양대학교

Detailed Information

Metadata Downloads

적외선 레인지파인더 센서를 이용한 이동로봇용 환경지도 작성

Title
적외선 레인지파인더 센서를 이용한 이동로봇용 환경지도 작성
Alternative Title
Environmental Map Building for a Mobile Robot Using Infrared Range-finder Sensors
Author(s)
金憲熙
Publication Year
2002
Publisher
韓國海洋大學校
URI
http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002174004
http://repository.kmou.ac.kr/handle/2014.oak/10051
Abstract
The use of infrared range-finder sensors in the environmental recognition system for mobile robot has the advantage of low sensing cost compared with the use of other vision sensors, such as laser range-finder and CCD camera. This paper presents a methodology building the high accuracy environmental map using a mobile robot with low cost infrared range-finder sensors. In the map building using an infrared range-finder sensor, the errors due to non-linearity, specular reflection are contained. In this paper, therefore, the error due to non-linearity is compensated using a neural network. The neural network used consists of multi-layer perceptron and Levenberg-Marquardt algorithm is applied to learn it. And also, the random error of readings and the uncertainty of environment are taken into sensor modeling at probabilistic approach. The map is represented by occupancy grid framework and updated by the Bayesian estimation mechanism. The effectiveness of the proposed method is verified through experiments.
Appears in Collections:
제어계측공학과 > Thesis
Files in This Item:
000002174004.pdf Download

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

Browse