Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Localization of Mobile robot using color landmark

컬러 랜드마크를 이용한 이동 로봇의 자가 측위

  • 김성찬 (전북대학 제어계측공학과) ;
  • 고수홍 (전북대학 제어계측공학과) ;
  • 김형석 (전북대학 제어계측공학과) ;
  • 김종만 (남도대학 컴퓨터응용전기학과) ;
  • 이왕희 (전북대학 제어계측공학과)
  • Published : 2006.10.27
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Abstract

This paper propose a localization method using color landmark that is applicable to mobile intelligent robot. The color landmarks are attached in the indoor ceiling. The world coordinate of robot is estimated by color patterns and the coordinates of landmarks. A landmark is composed of 4color and these 4 colors are sorted in a line. All of landmarks have a main color which indicates direction of robot. Other 3 colors are the combination of 5 kind of colors. The CCD camera is installed on the top of robot to observe the landmarks in the ceiling.

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