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영상탐색기를 이용한 로봇 자기위치 추정 및 랑데부 유도
배선호(Sun-Ho Bae),조준연(Jun-Yeon Cho),최시내(Si-Nae Choi),한혜진(Hye-Jin Han),문한빛(Han-Bit Moon),이다연(Da-Yeon Lee),나원상(Won-Sang Ra) 대한전기학회 2010 대한전기학회 학술대회 논문집 Vol.2010 No.7
In this paper, self-localization and rendezvous guidance schemes using image seeker and gyro sensor are proposed for non-holonomic robot applications. To effectively avoid the divergence of robot pose calculated by the odometry, image seeker and low-cost gyro are adopted as auxiliary sensors for improved robot localization. The image sensor is designed to detect landmark with known position based on color marker algorithm. Robot self-localization can be achieved by applying the extended Kalman filter algorithm for the nonlinear motion model and intermittent measurement model. Using the estimated pose information, a horizontal rendezvous guidance law is developed for controlling the robot position to the specific position. The usefulness of the proposed methods are verified through experiments.