Localization for Self‐Assembly Robot Using Indoor GPS and Omni‐directional Mirror with Landmark

• 발행기관: 동국대학교 정보융합기술원
• 저자명: Yong Min Tai(태용민) Yeon Geol Ryu(류연걸) Si Jong Kim(김시종) Ji Sung Kim(김지성) Myung Jin Chung(정명진)
• 간행물 정보: 『International Journal of Assistive Robotics and Systems』vol.10 no.2, 15~25쪽, 전체 11쪽
• 주제분류: 공학 > 기타공학
• 파일형태: PDF
• 발행일자: 2009.06.30

영문 초록

In this paper, we present the method of localization system that uses iGPS (indoor GPS) sensor and Omni‐directional vision sensor in the environment involving landmark. Self‐assembly robots need to know its own position to assemble to other robot. The indoor GPS (iGPS) is a simple and cheap localization sensor to adapt self‐assembly robots in the indoor environment. However, the error range of iGPS is too wide to be used in a small size robot. We assume that every robot have landmark to recognize. Then, we propose a more accurate method of localization system that uses the iGPS sensor and Omni‐directional vision sensor. We use the relative angle of robot estimation method and the linear position estimation. Then, we fuse the data from two sensors to get the accurate position.

목차

1. Introduction

2. ESTIMATING RELATIVE ANGLES OF ROBOTS

3. LINEAR POSITION ESTIMATION

4. LOCALIZATION USING SENSOR FUSION

5. EXPERIMENT AND RESULT

6. CONCLUSION

키워드

Localization Self‐ assembly robot iGPS Omni‐ Mirror linear position estimation