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
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 1,027 - 1,030 (4page)
이용수
초록· 키워드
오류제보하기
A mobile robot must know its position within an unknown environment in order to perform tasks reliably. In this paper, enhancing the scan-matching algorithm for accurate map building and localization using a laser range finder in an unknown environment is proposed. When using the encoder, consideration of the error by slip and backlash of wheels is required for accurate localization. In this paper, more accurate translation and rotation between the reference position where the previous pose was obtained and the current position of the mobile robot is obtained by combining with the scanned data of the laser range finder while the robot navigates and using Procrustes analysis. This scan matching method is consecutively applied to the scan data of the environment and the odometer information of the robot. The pose of the robot and the map information of the environment are revised accordingly. Experimental result shows that the proposed scan matching algorithm for a mobile robot facilitates reduction of the error of map building from environmental information with the revised pose information of the robot.
목차
Abstract
1. INTRODUCTION
2. THE PROPOSED SCAN MATCHING METHOD
3. EXPERIMENT AND RESULTS
4. CONCLUSION
REFERENCES
참고문헌 (0)
참고문헌 신청이 논문의 저자 정보
최근 본 자료
댓글(0)
0