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정적인 Passive RFID 태그를 이용한 로봇 위치인식기법
문승욱(Seung-Wuk Moon),지용관(Yong-Kwan Ji),박장현(Jahng-Hyon Park) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.11
This paper presents methods of robot localization using recent Radio Frequency Identification technology. If the absolute location and orientation of a passive tag are given in indoor environment which is installed RFID tags, a robot can estimate its location using the relationship of identified tag and robot in relative coordinate. To derive this relationship, we proposes estimation techniques using the probabilistic model of RFID reader, the direction and the maximum range of identification. And condition-processor is combined in a suitable technique depending on the situation and the trajectory of robot in the field of range. Experimental results show that the proposed methods can provide good performance and thus be used for localization.
Artificial Visual Landmark와 RFID를 이용한 이동로봇의 위치 보정
박희환(Hee Hwan Park),문승욱(Seung Wuk Moon),송성호(Seong Ho Song),지용관(Yong Kwan Ji),박장현(Jahng Hyon Park) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.11
To correct the relative location of an autonomous mobile robot, this paper proposes the location correction method using a single camera and an artificial visible polyhedron landmark with a RFID tag and its location with respect to the indoor environment is fixed. To achieve the purpose, the proposed algorithm should process the following 3 steps. At the first step, a robot rotates its RFID antenna to detect the direction angle which is the direction of the identified tag. At the second step, the algorithm applies Continuous Adaptive Mean Shift(CAMShift) method to extract the coordinates of feature points of the detected landmark. At the third step, the pose of the detected landmark can be estimated using the calibrated camera information of the robot. Finally the robot can correct its location efficiently.