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다중 이동 로봇의 위치 추정을 위한 확장 칼만 필터와 제약 만족 기법의 성능 비교
조경환(Kyounghwan Jo),이홍기(Hongki Lee),이지홍(Jihong Lee) 대한전기학회 2008 대한전기학회 학술대회 논문집 Vol.2008 No.10
In this paper, we present performance comparison of two methods to localize multiple robots. One is extended Kalman filter and the other is constraint propagation technique. Extended Kalman filter is conventional probabilistic method which gives the sub-optimal estimation rather than guarantee any boundary for true position of robot. In case of constraint propagation, it can give a boundary containing true robot position value. Especially, we deal with cooperative localization problem in outdoor environment for multiple robots equipped with GPS, gyro meter, wheel encoder. In simulation results, we present strength and weakness for localization methods based on extend Kalman filter and constraint propagation technique.
곡면 형태의 주파수 선택적 표면의 전파 투과 및 반사 특성에 관한 연구
이지홍(Jihong Lee),조경환(Kyounghwan Jo),오상진(Sangjin Oh),심형원(Hyoungwon Shim),서일성(Il-Sung Seo),김근홍(Geun-Hong Kim) 대한전자공학회 2007 대한전자공학회 학술대회 Vol.2007 No.11
Although a lot of studies have covered the analysis of infinite FSS and a few have been devoted to the finite FSS, the studies regarding with the curved effects on the band-pass FSS radome rarely have been studied. In this paper, we studied curverd effects on FSS. Using previous studies for plat FSS, we analysed the characteristic of curved FSS.