주차장 관리를 위한 ROS 기반 자율주행 이동로봇의 원격 제어 및 Visual SLAM에 관한 연구

다국어 초록 (Multilingual Abstract)

Automation of the parking lot is required due to the labor cost burden and labor shortage. Because the developed parking lot management system (PLMS) is used in only billing the parked cars, the unmanned (PLMS) must be developed. In this paper, we proposed an autonomous mobile robot and control system for unmanned parking lot management. This robot monitors incidents as well as illegally parked vehicles while monitoring the parking lot information and the robot position is estimated by fusing the dead reckoning with inertial measurement unit. After application of the developed autonomous (PLMS) to the real parking lot, we confirmed the usefulness of the proposed PLMS.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. 원격 제어 시스템 구성
• III. 로봇의 위치 추정 실험
• IV. 자율주행 로봇의 실험
• REFERENCES

참고문헌 (Reference)

1 이훈, "전방 모노카메라 기반 SLAM을 위한 다양한 특징점 초기화 알고리즘의 성능 시뮬레이션" 제어·로봇·시스템학회 22 (22): 833-838, 2016

2 모세현, "이동 로봇의 강인한 위치 추정을 통한 실내 SLAM" 제어·로봇·시스템학회 22 (22): 301-306, 2016

3 오지만, "실내 자율 주행 로봇 개발에 관한 연구" 제어·로봇·시스템학회 24 (24): 814-821, 2018

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5 "https://www.qt.io"

6 "http://www.ros.org"

7 M.-H. Lee, "Robot service control method based on ROS for context awareness system" Soongsil University 2017

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11 S.-Y. Park, "Development of Cooperative Robots for Assembly Work and Its ROS-Based Control System" Seoul National University of Science and Technology 2017

12 G.-K. Jong, "Autonomous Driving Control of Mobile Robots Based on ROS Using Deep Learning" Dong-A University 2018

13 J.-C. Do, "A Study on ROS based Remote Control of Robot through Network" 416-417, 2018

14 J. -C. Do, "A License Plate Recognition using Neural Network and Autonomous Mobile Robot in Intelligent Parking Lot Management System" 1325-1328, 2018