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RISS 인기검색어
- 검색키워드
- 저자 : 송의규(Ui Kyu Song) (검색결과 2 건)
- 무료
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전동 스쿠터를 위한 DGPS 기반의 위치 추정 및 반 자율 주행 시스템 개발
송의규(Ui Kyu Song),김병국(Byung Kook Kim) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.7
More and more elderly and disabled people are using electric scooters instead of electric wheelchairs because of higher mobility. However, people with high levels of impairment or the elderly still have difficulties in driving the electric scooters safely. Semi-autonomous electric scooter system is one of the solutions for the safety: Either manual driving or autonomous driving can be used selectively. In this paper, we implement a semi-autonomous electric scooter system with functions of localization and path following. In order to recognize the pose of electric scooter in outdoor environments, we design an outdoor localization system based on the extended Kalman filter using DGPS (Differential Global Positioning System) and wheel encoders. We added an accelerometer to make the localization system adaptable to road condition. Also we propose a path following algorithm using two arcs with current pose of the electric scooter and a given path in the map. Simulation results are described to show that the proposed algorithms provide the ability to drive an electric scooter semi-autonomously. Finally, we conduct outdoor experiments to reveal the practicality of the proposed system.
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다수의 초음파 송수신기를 이용한 이동 로봇의 정밀 실내 위치인식 시스템의 개발
김용휘(Yong-Hwi Kim),송의규(Ui Kyu Song),김병국(Byung Kook Kim) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.4
A precise embedded ultrasonic localization system is developed for autonomous mobile robots in indoor environments, which is essential for autonomous navigation of mobile robots with various tasks. Although ultrasonic sensors are more cost-effective than other sensors such as LRF (Laser Range Finder) and vision, they suffer inaccuracy and directional ambiguity. First, we apply the matched filter to measure the distance precisely. For resolving the computational complexity of the matched filter for embedded systems, we propose a new matched filter algorithm with fast computation in three points of view. Second, we propose an accurate ultrasonic localization system which consists of three ultrasonic receivers on the mobile robot and two or more transmitters on the ceiling. Last, we add an extended Kalman filter to estimate position and orientation. Various simulations and experimental results show the effectiveness of the proposed system.
ScienceON
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