Study of Robust Position Recognition System of a Mobile Robot Using Multiple Cameras and Absolute Space Coordinates

다중 카메라와 절대 공간 좌표를 활용한 이동 로봇의 강인한 실내 위치 인식 시스템 연구

  • Mo, Se Hyun (Amotech, motor circuit R&D Group) ;
  • Jeon, Young Pil (Samsung Electronics Co., Ltd.) ;
  • Park, Jong Ho (School of Electrical & Electronic Engineering, Seonam Univ.) ;
  • Chong, Kil To (School of Electronic Engineering / Advanced Electronics and information Research Center & Chon-buk Nat'l Univ.)
  • 모세현 (아모텍) ;
  • 전영필 (삼성전자) ;
  • 박종호 (서남대학교 전기전자공학과) ;
  • 정길도 (전북대학교 전자정보공학부/전자정보신기술연구소)
  • Received : 2015.07.09
  • Accepted : 2017.03.31
  • Published : 2017.07.01


With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.


Localization;Mobile Robot;Path Planning;Vision


Supported by : 한국산업기술진흥원


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