대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

초음파센서를 가진 이동로봇의 주행을 위한 지도를 이용한 공간상의 절대위치 인식 실현

The Absolute Position Recognition Using the Map in Space for Navigation of a Mobile Robot

  • 정준영 (한국과학기술연구원 기전연구부) ;
  • 김용일 (삼성전자(주) 생활시스템연구소) ;
  • 김지현 (한국과학기술연구원 기전연구부) ;
  • 한석진 (한국과학기술연구원 기전연구부) ;
  • 김상권 (한국과학기술연구원 기전연구부) ;
  • 김판돌 (한국과학기술연구원 기전연구부) ;
  • 이홍원 (한국과학기술연구원 기전연구부)
  • Jeong, Joon-Young (Department of Mechatronics, Korea Institute of Science and Technology) ;
  • Kim, Yong-Yil (Home Intelligence Group, Samsung Elec. Co., LTD) ;
  • Kim, Ji-Hyun (Department of Mechatronics, Korea Institute of Science and Technology) ;
  • Han, Seok-Jin (Department of Mechatronics, Korea Institute of Science and Technology) ;
  • Kim, Sang-Gweon (Department of Mechatronics, Korea Institute of Science and Technology) ;
  • Kim, Pan-Dol (Department of Mechatronics, Korea Institute of Science and Technology) ;
  • Lee, Hong-Won (Department of Mechatronics, Korea Institute of Science and Technology)
  • 발행 : 1994.11.18
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초록

In this paper, we introduce the current implementation status of the absolute position recognition technique using sonars for the navigation of a mobile robot. Using this technique, we have developed the supervisory controller of the autonomous vacuum cleaning robot which can recognize the user-specified origin, moves its body to the origin, and follow the specified trajectory starting from the origin. With the satisfactory results, we expect the autonomous cleaning robot to be commercialized in a very near future.

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