바닥 특징점을 사용하는 실내용 정밀 고속 자율 주행 로봇을 위한 싱글보드 컴퓨터 솔루션
- Title
- 바닥 특징점을 사용하는 실내용 정밀 고속 자율 주행 로봇을 위한 싱글보드 컴퓨터 솔루션
- Other Titles
- An Embedded Solution for Fast Navigation and Precise Positioning of Indoor Mobile Robots by Floor Features
- Author
- 서일홍
- Keywords
- Navigation; Mobile Robot; Mono-Camera Navigation; Single Board Computer Navigation
- Issue Date
- 2019-12
- Publisher
- 한국로봇학회
- Citation
- 로봇학회 논문지, v. 14, no. 4, page. 293-300
- Abstract
- In this paper, an Embedded solution for fast navigation and precise positioning of mobile robots by floor features is introduced. Most of navigation systems tend to require high-performance computing unit and high quality sensor data. They can produce high accuracy navigation systems but have limited application due to their high cost. The introduced navigation system is designed to be a low cost solution for a wide range of applications such as toys, mobile service robots and education. The key design idea of the system is a simple localization approach using line features of the floor and delayed localization strategy using topological map. It differs from typical navigation approaches which usually use Simultaneous Localization and Mapping (SLAM) technique with high latency localization. This navigation system is implemented on single board Raspberry Pi B+ computer which has 1.4 GHz processor and Redone mobile robot which has maximum speed of 1.1 m/s.
- URI
- https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002524992https://repository.hanyang.ac.kr/handle/20.500.11754/158277
- ISSN
- 1975-6291; 2287-3961
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRONIC ENGINEERING(융합전자공학부) > Articles
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