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음향학에 기반한 자율이동로봇의 초음파 확률격자지도 작성
이유철(Y. C. Lee),이세진(S. J. Lee),임종환(J. H. Lim),조동우(D. -W. Cho) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
The sonar sensors can be divided into a piezo type and an electrostatic type according to a principle of an operating system. The electrostatic type of a sonar sensor is used for map building in this paper. If we know the characteristics of sonar sensor, we can derive the ultrasonic pressure equation from an acoustics theory. We, therefore, developed Ultrasonic Pressure Probabilistic Model (UPPM) to consider the sound pressure in the probability updating process. In this paper, we found that the quality of the resulting probability map is considerably improved, through combining the UPPM with the grid-based mapping algorithm.
유원필,이유철,김동형,Yu, W.P.,Lee, Y.C.,Kim, D.H. 한국전자통신연구원 2021 전자통신동향분석 Vol.36 No.2
This report introduces a definition for robot task intelligence and explains the basis of the challenges associated with implementing robot task intelligence in real-world problems. Two fundamental elements of this intelligence, robot manipulation and navigation, are introduced herein. We describe the existing trends and industrial applications of the robot task intelligence in logistics and agricultural automation. Furthermore, as an underpinning technology for this intelligence, we review the existing three-dimensional position estimation techniques and summarize the difficulties associated with applying pure SLAM technology to real-world applications. Finally, we discuss the prospects of the robot task intelligence research and its potential for solving real-world problems.