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센서 데이터의 EKF 융합에 의한 이동로봇의 위치추정에 관한 연구 원문보기
(A) Study on the Localization of Mobile Robot Using EKF based Sensor Fusion Method

  • 저자

    정석윤

  • 학위수여기관

    昌原大學校 大學院

  • 학위구분

    국내석사

  • 학과

    전기공학과

  • 지도교수

  • 발행년도

    2003

  • 총페이지

    59p.

  • 키워드

    센서 데이터 EKF 융합 이동로봇 위치추정;

  • 언어

    kor

  • 원문 URL

    http://www.riss.kr/link?id=T9469659&outLink=K  

  • 초록

    Accurate position estimation is required for mobile robot navigation. To estimate current position mobile robot uses sensors. As one sensor or two sensors system is insufficient to estimate accurately, it is necessary to use sensor fusion method. Mobile robot can obtain redundant and complementary information by using sensor fusion method. It is possible to estimate current position more accurately than one sensor or two sensors system. Sensor fusion system is composed of vision sensor, ultrasonic sensors and encoder sensor. Personal computer and interface board control three different sensors. Extended Kalman Filter(EKF) method using three different sensors is proposed for sensor fusion. The validity of the proposed sensor fusion method is proved by experimental result in indoor environment.


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