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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Cooperation of Heterogeneous Robot Team for Localization and Map Building

이종 로봇팀의 협업을 통한 맵 빌딩과 위치추정

  • 정진수 (경희대학교 전자전파공학과) ;
  • 임윤원 (경희대학교 전자전파공학과) ;
  • 강수혁 (경희대학교 전자전파공학과) ;
  • 김동한 (경희대학교 전자전파공학과)
  • Received : 2010.11.15
  • Accepted : 2010.12.20
  • Published : 2011.02.01
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Abstract

In this paper we present cooperation of heterogeneous robot team, composed of a wheeled robot and a helicopter for localization and map building. This heterogeneous robot team can successfully fulfill task by combining the abilities of both robots than single robot because wheeled robot and helicopter have complementing ability. The scenario describes a tightly cooperative task, where the wheeled robot move carrying the helicopter and detect obstacles, if there are obstacles, helicopter take off for map building and land, then robot team move destination avoiding obstacles. We present PID controller for position control of helicopter and transformation algorithm to global coordinate from image pixel coordinate. Experimental result show that the proposed method is valid.

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References

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