청소로봇의 최적비용함수를 고려한 지도 작성에 관한 연구
A Study on the Map-Building of a Cleaning Robot Base upon the Optimal Cost Function
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초록
In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.
Abstract
In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.
참고문헌 (6)
- 강진구, "비젼 정보를 이용한 이동 자율로봇의 물체 추적에 관한 연구", 한국컴퓨터정보학회논문지, 13(2), pp.235~241 (2008), 한국컴퓨터정보학회
- 강진구, "시각 정보를 이용한 이동 자율로봇의 궤적계획에 관한 연구", 디지털산업정보학회 추계학술대회, pp.66~72 (2008)
- 황진아, "모바일 로봇의 강인한 위치 추정 기법", 제 2회 한국지능로봇 하계종합 학술대회 논문집, pp.83~88
- J. G. Kang, "Study on Optimal Configuration for the Mobile Manipulator : Using weight value andmobility", ICANN (2006)
- F. L. Lewis, "Control of Robot Manipulators" (1993), Macmillan Publishing
- Mark W. Spong, "Robot Dynamics and Control" (1989), John Wiley & Sons