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천정 부착 칼라 패치 배열을 이용한 이동로봇의 자기위치 인식
왕실(Shi Wang),진홍신(Hongxin Chen),마이클스트르젤레키(Michal Stzelecki),김형석(Hyongsuk Kim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.2
A localization system to estimate the position as well as movement direction of mobile robots is proposed in this paper. This system implements a camera fixed on a robot and color patches evenly distributed and mounted on the planar ceiling. Different permutations of patch colors code information about robot localization. Thus, extraction of color information from patch images leads to estimation of robot position. Additionally, simple geometric indicators are combined with patch colors to estimate robot"s movement direction. Since only the distribution of patch colors has to be known, the analysis of patch images to is relatively fast and simple. The proposed robot localization system has been successfully tested for navigation of sample mobile robot. Obtained test results indicate the robustness and reliability of proposed technique for robot navigation.