This paper proposes a precise localization algorithm for a quickly moving mobile robot.In order to localize a mobile robot with active beacon sensors,a relatively long time is needed,since the distance to the beacon i...This paper proposes a precise localization algorithm for a quickly moving mobile robot.In order to localize a mobile robot with active beacon sensors,a relatively long time is needed,since the distance to the beacon is measured by transmitting time of the ultrasonic signal.The measurement time does not cause a high error rate when the mobile robot moves slowly.However,with an increase of the mobile robot’s speed,the localization error becomes too high to use for accurate mobile robot navigation.Therefore,in this research into high speed mobile robot operations,instead of using two active beacons for localization,an active beacon and dual compass are utilized to localize the mobile robot.This new approach resolves the high localization error caused by the speed of the mobile robot.The performance of the precise localization algorithm is verified by comparing it to the conventional method through real-world experiments.展开更多
Using sensor and GPS to make a trajectory planning for the stationary obstacle, autonommus mobile robot can asstmae that it is placed at the center of the map, and from the distance information between autonomous mobi...Using sensor and GPS to make a trajectory planning for the stationary obstacle, autonommus mobile robot can asstmae that it is placed at the center of the map, and from the distance information between autonomous mobile robot and obstacles. But in case of active moving obstacle, many components and information need to process since their moving trace should be considered in real time. This paper mobile robot＇s driving algorithm of unknown dynamic envirormaent in order to drive intelligently to destination using ultrasonic and Global Positional Systern （GPS）. Sensors adjusted the placement dependment on driving of robot, and the robot plans the evasion method according to obstacle which are detected by sensors. The robot saves GPS coordinate of complex obstacle. If there are many repeated driving, robot creates new obstacles to the hr, ation by itself. And then it drives to the destination resolving a large range of local minirmnn point If it needs an intelligent circtmtantial decision, a proposed algorithm is suited for effective obstacle avoidance and arrival at the destination by performing simulations.展开更多
基金supported by the MKE(The Ministry of Knowledge Economy),Korea,under the ITRC(Information Technology Research Center)support program supervised by the NIPA(National IT Industry Promotion Agency)(NIPA-2011-C1090-1121-0010)
文摘This paper proposes a precise localization algorithm for a quickly moving mobile robot.In order to localize a mobile robot with active beacon sensors,a relatively long time is needed,since the distance to the beacon is measured by transmitting time of the ultrasonic signal.The measurement time does not cause a high error rate when the mobile robot moves slowly.However,with an increase of the mobile robot’s speed,the localization error becomes too high to use for accurate mobile robot navigation.Therefore,in this research into high speed mobile robot operations,instead of using two active beacons for localization,an active beacon and dual compass are utilized to localize the mobile robot.This new approach resolves the high localization error caused by the speed of the mobile robot.The performance of the precise localization algorithm is verified by comparing it to the conventional method through real-world experiments.
基金supported by the MKE(The Ministry of Knowledge Economy),Koreathe ITRC(Information Technology Research Center)support program(NIPA-2010-C1090-1021-0010)
文摘Using sensor and GPS to make a trajectory planning for the stationary obstacle, autonommus mobile robot can asstmae that it is placed at the center of the map, and from the distance information between autonomous mobile robot and obstacles. But in case of active moving obstacle, many components and information need to process since their moving trace should be considered in real time. This paper mobile robot＇s driving algorithm of unknown dynamic envirormaent in order to drive intelligently to destination using ultrasonic and Global Positional Systern （GPS）. Sensors adjusted the placement dependment on driving of robot, and the robot plans the evasion method according to obstacle which are detected by sensors. The robot saves GPS coordinate of complex obstacle. If there are many repeated driving, robot creates new obstacles to the hr, ation by itself. And then it drives to the destination resolving a large range of local minirmnn point If it needs an intelligent circtmtantial decision, a proposed algorithm is suited for effective obstacle avoidance and arrival at the destination by performing simulations.
