천장 전등패널 기반 로봇의 주행오차 보정과 제어

다국어 초록 (Multilingual Abstract)

In this paper, we suggest the method for a mobile robot to move safely from an initial position to a goal position in the wide environment like a building.
There is a problem using odometry encoder sensor to estimate the position of a mobile robot in the wide environment like a building. Because of the phenomenon of wheel’s slipping, a encoder sensor has the accumulated error of a sensor measurement as time. Therefore the error must be compensated with using other sensor. A vision sensor is used to compensate the position of a mobile robot as using the regularly attached light’s panel on a building’s ceiling. The method to create global path planning for a mobile robot model a building’s map as a graph data type. Consequently, we can apply floyd’s shortest path algorithm to find the path planning. The effectiveness of the method is verified through simulations and experiments.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 패널인식 모델링
• 3. 실험 및 결과
• 4. 결론
• 참고문헌

참고문헌 (Reference)

1 진태석, "실내 환경에서의 능동카메라 기반 쿼더콥터의 호버링 제어" 한국산업융합학회 20 (20): 19-26, 2017

2 Joel Vidal, "Simple and robust localization system using ceiling landmarks and infrared light" 583-587, 2016

3 H. B. Wang, "Path Planning Based on Ceiling Light Landmarks for a Mobile Robot" 1593-1598, 2008

4 H. Liu, "Mobile robot for life science automation" 10 : 1-14, 2013

5 K.H. Cho, "Developments of a Path Planning Algorithm for Unmanned Vehicle" 14 (14): 53-57, 2011

6 Hongbo Wang, "Ceiling Light Landmarks Based Localization and Motion Control for a Mobile Robot" 285-290, 2007

7 N. Stoll, "A fast optical method for the determination of liquid levels in microplates" 2011 : 1-6, 2011

8 A. A. Abdulla, "A New Robust Method for Mobile Robot Multi-Floor Navigation in Distributed Life Science Laboratories" 2016 : 1-17, 2016