한국해양대학교

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초음파 센서를 이용한 이동로봇용 환경인식 시스템 개발에 관한 연구

Title
초음파 센서를 이용한 이동로봇용 환경인식 시스템 개발에 관한 연구
Alternative Title
(A) Study on the Development of Environment Perception System for a Mobile Robot Using Ultrasonic Sensors
Author(s)
Duck-GonKim
Publication Year
2001
Publisher
한국해양대학교 대학원
URI
http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002218936
http://repository.kmou.ac.kr/handle/2014.oak/10303
Abstract
To move in unknown or uncertain environment, a mobile robot must collect informations from various sensors and use it to construct a representation of the external world. Ultrasonic sensor can provide range data for this purpose in a simple cost-effective way. However, conventional ultrasonic sensor systems for a mobile robot are not sufficient for environment recognition because of their large beam opening angle and specular reflection. This paper describes on environmental perception algorithm which can solve these problems in case using ultrasonic sensor. The algorithm consist of two parts. One is to solve beam opening angle problem by data fusion from multiple ultrasonic sensors. The other is to cope with specular reflection problem in wall line extract, which is using Hough Transform. Experiments to verify the validity of the proposed algorithm are carried out, and the results are provided at last part in this paper.
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제어계측공학과 > Thesis
Files in This Item:
000002218936.pdf Download

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