Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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Control and Calibration for Robot Navigation based on Light's Panel Landmark

천장 전등패널 기반 로봇의 주행오차 보정과 제어

  • 진태석 (동서대학교 메카트로닉스공학과)
  • Received : 2017.03.29
  • Accepted : 2017.05.12
  • Published : 2017.06.30
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Abstract

In this paper, we suggest the method for a mobile robot to move safely from an initial position to a goal position in the wide environment like a building. There is a problem using odometry encoder sensor to estimate the position of a mobile robot in the wide environment like a building. Because of the phenomenon of wheel's slipping, a encoder sensor has the accumulated error of a sensor measurement as time. Therefore the error must be compensated with using other sensor. A vision sensor is used to compensate the position of a mobile robot as using the regularly attached light's panel on a building's ceiling. The method to create global path planning for a mobile robot model a building's map as a graph data type. Consequently, we can apply floyd's shortest path algorithm to find the path planning. The effectiveness of the method is verified through simulations and experiments.

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References

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