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바코드가 있는 가정환경에서의 위상학적 지도형성 및 자율주행
Topological Mapping and Navigation in Indoor Environment with Invisible Barcode

허진욱   (국방과학연구소CC0136088  ); 정웅식   (마이크로로봇CC0169365  ); 정완균   (포항공과대학교 기계공학과UU0001351  );
  • 초록

    This paper addresses the localization and navigation problem using invisible two dimensional barcodes on the floor. Compared with other methods using natural/artificial landmark, the proposed localization method has great advantages in cost and appearance, since the location of the robot is perfectly known using the barcode information after the mapping is finished. We also propose a navigation algorithm which uses the topological structure. For the topological information, we define nodes and edges which are suitable for indoor navigation, especially for large area having multiple rooms, many walls and many static obstacles. The proposed algorithm also has an advantage that errors occurred in each node are mutually independent and can be compensated exactly after some navigation using barcode. Simulation and experimental results. were performed to verify the algorithm in the barcode environment, and the result showed an excellent performance. After mapping, it is also possible to solve the kidnapped case and generate paths using topological information.


  • 주제어

    바코드 .   이동로봇 .   자율주행 .   위상학적 지도.  

  • 참고문헌 (11)

    1. iRobot. Website. [Online]. Available: http://www.roombavac.com 
    2. Electrolux. Website. [Online]. Available: http:// trilobite. electrolux.com/ 
    3. Dellaert F., Fox D., BurgardW. and S. Thrun, 1999, 'Monte Carlo Localization for Mobile Robots,' Proc. IEEE International Conference on Robotics and Automation, pp. 1322-1328 
    4. Gonz'alez-Banos H. H. and Latombe J.-C., 2002, 'Navigation Strategies for Exploring Indoor Environments,' International Journal of Robotics Research, Vol. 21, No. 10, pp. 829-848 
    5. Enrique Gonzalez,Oscar Alvarez, Yul Diaz, Carlos Parra and Cesar Bustacara, 2005, 'BSA: A Complete Coverage Algorithm,' Proc. IEEE International Conference on Robotics and Automation, pp. 2052-2056 
    6. Huang W. H., 2001, 'Optimal Line-sweep-based Decompositions for Coverage Algorithms,' Proc. IEEE International Conference on Robotics and Automation, pp. 27-32 
    7. Tomatis N., Nourbakhsh I., and Siegwart R., 2001, 'Simultaneous Localization and Map Building: A Global Topological Model with Local Metric Maps,' Proc. IEEE International Conference on Intelligent Robots and Systems, pp. 421-426 
    8. Bosse M., Newman P., Leonard J., Soika M., Feiten W. and Teller S., 2003, 'An Atlas Framework for Scalable Mapping,' Proc. IEEE International Conference on Robotics and Automation, pp. 1899-1906 
    9. Victorino A. C. and Rives P., 2005, 'Global Consistency Mapping with an Hybrid Representation,' Proc. IEEE International Conference on Intelligent Robots and Systems, pp. 2403-2408 
    10. Madsen C. and Andersen C., 1998, 'Optimal Landmark Selection for Triangulation of Robot Position,' International Journal of Robotics and Autonomous Systems, Vol. 23, No. 4, pp.277-292 
    11. Hern'andez S., J. Torres M., C. Morales A., and Acosta L., 2003, 'A New Low Cost System for Autonomous Robot Heading and Position Localization in a Closed Area,' Autonomous robots, Vol. 15, No. 2, pp. 99-110 

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  • Huh, Jin-Wook (1)

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