한국해양대학교

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초음파 센서를 이용한 이동로봇의 맵 빌딩 알고리즘 및 주행 알고리즘에 관한 연구

Title
초음파 센서를 이용한 이동로봇의 맵 빌딩 알고리즘 및 주행 알고리즘에 관한 연구
Alternative Title
A Study on the Map Building and Traveling Algorithm for Mobile Robots with Ultrasonic Sensors
Author(s)
한승봉
Issued Date
2007
Publisher
한국해양대학교 대학원
URI
http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002175970
http://repository.kmou.ac.kr/handle/2014.oak/10304
Abstract
In order for a mobile robot to move in unknown or uncertain environment, it must have an environmental information. In collecting environmental information, the mobile robot can use various sensors.

In case of using ultrasonic sensors to collect an environmental information, it is able to comprise a low-cost environmental recognition system compared with using other sensors such as vision and laser range-finder.

This paper proposes a map building algorithm which can collect environmental information using ultrasonic sensors. And also this paper suggests a traveling algorithm using environmental information which leads to the map building algorithm and the A* algorithm. In order to accomplish the proposed traveling algorithm, this paper additionally discusses a position revision algorithm and a path amendment algorithm.

For the purpose of verifying the proposed algorithms, several simulations and experiments are executed based on a UI-based simulation program and a mobile robot physically designed in this paper.

The conclusion is that the proposed algorithm is very effective and is applicable to mobile robots especially requiring a low-cost environmental information.
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제어계측공학과 > Thesis
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000002175970.pdf Download

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