지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 100 - 111 (12page)
이용수
초록· 키워드
오류제보하기
Indoor real-time positioning for multiple targets is required to realize human-robot symbiosis. This study firstly presents positioning accuracy on an autonomous mobile robot controlled by 3-D coordinates that is obtained by a real-time indoor positioning system with spread spectrum (SS) ultrasonic signals communicated by code-division multiple access. Although many positioning systems have been investigated, the positioning system with the SS ultrasonic signals can measure identified multiple 3-D positions in every 70 ms with noise tolerance and error within 100 mm. This system is also robust to occlusion and environmental changes. However, thus far, the positioning errors in an autonomous mobile robot, controlled by these systems using the SS ultrasonic signals, have not been evaluated as an experimental study. Therefore, a positioning experiment for trajectory control is conducted using an autonomous mobile robot and our positioning system. The effectiveness of this positioning method for robot self-localization is shown, from this experiment, because the average control error between the target position and the robot’s position at 29 mm is obtained.
목차
Abstract
1. Introduction
2. Real-time Indoor 3-D Positioning System using Continuous SS Ultrasonic Signals
3. Positioning Accuracy and Measurable Area of the Positioning System in a Room
4. Control Experiment with Robot using the Positioning System
5. Conclusions
References
참고문헌 (10)
참고문헌 신청
1. [학술대회논문] - J. E. Lee. / 2010 / Indoor initial positioning using single clock pseudolite system / International Conference on Information and Communication Technology Convergence (ICTC), Jeju : 575 ~ 578
2. [학술대회논문] - D. Manandhar. / 2011 / Development of IMES Installation, Setup and Management System / Proceedings of the 24th International Technical Meeting of The Satellite Division of the Institute of Navigation, Portland : 1507 ~ 1513
3. [학술지(정기간행물)] - M. Hazas. / 2006 / Broadband Ultrasonic Location Systems for Improved Indoor Positioning / IEEE Transactions on Mobile Computing : 536 ~ 547
4. [학술대회논문] - A. M. Aly Omar. / 2005 / Spread Spectrum Ultrasonic Positioning System / The 2nd Workshop on Positioning., Navigation and Communication (WPNC’05) & 1st Ultra-Wideband Expert Talk (UET'05), Hanover : 109 ~ 114
5. [학술대회논문] - Y. Itagaki. / 2012 / Indoor Positioning for Moving Objects Using a Hardware Device with Spread Spectrum Ultrasonic Waves / International Conference on Indoor Positioning and Indoor Navigation (IPIN 2012), Sydney : 1 ~ 6
2. [학술대회논문] - D. Manandhar. / 2011 / Development of IMES Installation, Setup and Management System / Proceedings of the 24th International Technical Meeting of The Satellite Division of the Institute of Navigation, Portland : 1507 ~ 1513
3. [학술지(정기간행물)] - M. Hazas. / 2006 / Broadband Ultrasonic Location Systems for Improved Indoor Positioning / IEEE Transactions on Mobile Computing : 536 ~ 547
4. [학술대회논문] - A. M. Aly Omar. / 2005 / Spread Spectrum Ultrasonic Positioning System / The 2nd Workshop on Positioning., Navigation and Communication (WPNC’05) & 1st Ultra-Wideband Expert Talk (UET'05), Hanover : 109 ~ 114
5. [학술대회논문] - Y. Itagaki. / 2012 / Indoor Positioning for Moving Objects Using a Hardware Device with Spread Spectrum Ultrasonic Waves / International Conference on Indoor Positioning and Indoor Navigation (IPIN 2012), Sydney : 1 ~ 6
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2014-500-002742616