초음파센서의 지향성 및 경면반사현상을 고려한 환경인식
Environmental Perception Considering Beam Opening Angle and Specular Reflection of Ultrasonic Sensors
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Abstract
To move in unknown or uncertain environment, a mobile robot must collect informations from various sensors and use it to construct a representation of the external world. Ultrasonic sensor can provide range data for this purpose in a simple cost-effective way. However, conventional ultrasonic sensor system for a mobile robot are not sufficient for environment recognition because of their large beam opening angle, specular reflection.This paper describe on environmental perception algorithm which can solve these problems in case using ultrasonic sensor. The algorithm consist of two parts. One is to solve beam opening angle problem by fusion from multiple ultrasonic sensors. The other is to cope with specular reflection problem in wall line extract, which is based on Hough Transform. Experiments to verify the validity of the proposed algorithm are carried out, and the results are provided at last part in this paper.
참고문헌 (6)
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