IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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On the Design of an Efficient Mobile Robot Framework by Using Collaborative Sensor Fusion

다양한 센서 융합을 통한 효율적인 모바일로봇 프레임워크 설계

  • 김동환 (금오공과대학교 전자공학부) ;
  • 조성현 (삼성전자 IT 생산/SW팀) ;
  • 양연모 (금오공과대학교 전자공학부)
  • Received : 2011.02.28
  • Accepted : 2011.04.04
  • Published : 2011.06.30
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Abstract

There are many researches in unmanned vehicles such as UGV(Unmanned Ground Vehicle), AUV(Autonomous Underwater Vehicle). In these researches, differential wheeled mobile robots are mainly used to develop the experimental stage algorithm because of the simplicity of modeling and control. Usually a commercial product used in the study, but in order to operate a commercial product to the restrictions because there would need to use a fixed protocol. Using the microprocessor makes the internal sensors(encoder and INS) and external sensors(ultrasonic sensors, infrared sensors) operate and to determine commands for robot operation. This paper propose a mobile robot design for suitable purpose.

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References

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