Earticle

초록

영어

This paper proposes a method to reduce the pose error and to solve the dead reckoning issue which occurs when the mobile robot with continuous-tracks travels in the unstructured environments. When the continuous-track type mobile platform travels on terrain such as sand, gravel, stairs and etc., slippage occurs and thus the driving state of the mobile robot cannot be recognized normally. To compensate for this pose error, the proposed method utilizes optical flow estimation detected by camera. This method is tested through experiment. Finally, This method reduces the pose error detected on inertia measurement unit within some limit, while the pose error of without compensation increases without limit during robot move.

목차

ABSTRACT
1. 서론
2. 비전 기반 모바일 로봇 상태 추정 시스템
2.1 무한궤도 모바일 로봇
2.2 옵티컬 플로우 기반 모바일 로봇 상태 추정 알고리즘
3. 실험 방법 및 결과
3.1 요철이 있는 평지에서의 실험 환경
3.2 실험 결과
4. 결론
후기
References

키워드

저자

• 김민규 [ Min-Gyu Kim | School of Mechanical Engineering, Kyungpook National University ]
• 심유섭 [ Yu-Seop Sim | School of Mechanical Engineering, Kyungpook National University ]
• 이상룡 [ Sang-Ryong Lee | Member, School of Mechanical Engineering, Kyungpook National University ] Corresponding author
• 이학 [ Hak Yi | Member, School of Mechanical Engineering, Kyungpook National University ] Corresponding author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  한국기계항공기술학회지(구 한국기계기술학회지) [Journal of the Korean Society of Mechanical and Aviation Technology ]

• 간기

  격월간

• pISSN

  1229-604X

• eISSN

  2508-3805

• 수록기간

  1999~2026

• 등재여부

  KCI 등재

• 십진분류

  KDC 550 DDC 620