제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제12권6호
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  • Pages.580-584
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  • 2006
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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초음파의 반사 신호를 이용한 실내환경의 재질 인식

Material Classification Using Reflected Signal of Ultrasonic Sensor

  • 발행 : 2006.06.01
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초록

Material information for environment may be useful to accomplish mobile robot localization. A procedure to classify a set of indoor materials (glass, steel, wood, aluminum and concrete) with the reflected signal of ultrasonic sensor is proposed in this paper. The main idea is to use material-specific reflection characteristics for the recognition of material type. To achieve the classification task, we modeled reflected signal as a maximum amplitude with respect to distance. In this way, we can generate echo signal models for the given materials and these models are used to compare with the current sensor reading. The experimental results show that the proposed method may give material information during map building task of mobile robot.

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참고문헌

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