옵티컬 플로우 추정을 이용한 비정형 환경에서의 무한궤도형 모바일 로봇의 이동성 향상
Enhancing Mobility Using Optical flow Estimation of a Tracked Mobile Robot on Unstructured Environments
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This paper proposes a method to reduce the pose error and to solve the dead reckoning issue which occurs when the mobile robot with continuous-tracks travels in the unstructured environments. When the continuous-track type mobile platform travels on terrain such as sand, gravel, stairs and etc., slippage occurs and thus the driving state of the mobile robot cannot be recognized normally. To compensate for this pose error, the proposed method utilizes optical flow estimation detected by camera. This method is tested through experiment. Finally, This method reduces the pose error detected on inertia measurement unit within some limit, while the pose error of without compensation increases without limit during robot move.
Abstract
This paper proposes a method to reduce the pose error and to solve the dead reckoning issue which occurs when the mobile robot with continuous-tracks travels in the unstructured environments. When the continuous-track type mobile platform travels on terrain such as sand, gravel, stairs and etc., slippage occurs and thus the driving state of the mobile robot cannot be recognized normally. To compensate for this pose error, the proposed method utilizes optical flow estimation detected by camera. This method is tested through experiment. Finally, This method reduces the pose error detected on inertia measurement unit within some limit, while the pose error of without compensation increases without limit during robot move.
참고문헌 (7)
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- Wang, Zhen, "Moving target detection and tracking based on pyramid Lucas-Kanade optical flow", 2018 IEEE 3rd International Conference on Image, Vision and Computing (2018), IEEE
- 김세진, "분석적 계층화 과정을 적용한 모바일 로봇작업 환경 지도 생성을 위한 자동 탐사 방법", 제어.로봇.시스템학회 논문지, 24(12), pp.1170~1176 (2018), 제어·로봇·시스템학회[DOI]