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실외 환경에서 도로정보를 이용한 이동로봇의 자율주행 시스템 개발
손수경(Soo-Kyung Son),이동훈(Dong-Hoon Lee),양광웅(Gwang-Woong Yang),박종환(Jong-Hwan Park),이호길(Ho-Gil Lee) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.10
We developed a navigation system for an autonomous mobile robot that uses landmark information on the road in ould∞r environment. A vision system of the robot draws out lane points and the robot's position is estimated using Monte Carlo Localization Algorithm on the global map which including the road information. The path that the robot follows on the road is generated by Thinning algorithm. The navigation system was established that makes the robot drives to destination following the path on the lane in this paper, and proved by an experiment on read road in outdoor environment.