실내 환경에서 가시광을 이용한 로봇의 위치 인식

Title
실내 환경에서 가시광을 이용한 로봇의 위치 인식
Author
남해운
Keywords
Positioning; Localization Error; Reference Receiver; Visible Light; 공학; 제어계측공학
Issue Date
2016-03
Publisher
한국로봇학회
Citation
로봇학회논문지 제11권 제1호 (통권 제39호) p. 19-25
Abstract
In this paper, we propose a new method for improving the accuracy of localizing a robot to find the position of a robot in indoor environment. The proposed method uses visible light for indoor localization with a reference receiver to estimate optical power of individual LED in order to reduce localization errors which are caused by aging of LED components and different optical power for each individual LED, etc. We evaluate the performance of the proposed method by comparing it with the performance of traditional model. In several simulations, probability density functions and cumulative distribution functions of localization errors are also obtained. Results indicate that the proposed method is able to reduce localization errors from 7.3 cm to 1.6 cm with a precision of 95%.
URI
http://db.koreascholar.com/Article?code=311771http://hdl.handle.net/20.500.11754/34073
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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