가상로봇과 실제로봇 사이의 운동 동기화를 통한 물체 인식 및 목표물 추적방안

다국어 초록 (Multilingual Abstract)

Motion synchronization between developed real and virtual robots for object recognition and target tracking is introduced. ASUSs XTION PRO Live is implemented as a sensor and configured to recognize walls and obstacles, and perceive objects. In order to create virtual reality, Unity 3D is adopted to be associated with the real robot, and the virtual object is controlled by using an input device. A Bluetooth serial communication module is used for wireless communication between the PC and the real robot. The motion information of a virtual object controlled by the user is sent to the robot. Then, the robot moves in the same way as the virtual object according to the motion information. Through motion synchronization, two scenarios, which map the real space and current object information with virtual objects and space, were demonstrated, yielding good agreement between the two spaces.

참고문헌 (Reference)

1 서형규, "시선위치 추적기법 및 3차원 위치정보 획득이 가능한 사지장애인 보조용 웨어러블 로봇 시스템" 대한기계학회 37 (37): 1219-1227, 2013

2 이상엽, "가상공간과 실제공간을 결합한 로봇 게임 시스템 개발" (사)한국컴퓨터게임학회 (19) : 161-166, 2009

3 Nakano, E., "The Outline of The International Robot Games Festival" 820-825, 2000

4 Berg, J. V. D., "Reciprocal Velocity Obstacles for Real-time Multi-agent Navigation" 1928-1935, 2008

5 Hwang, S. W., "Multi-hop Based Real-time Streaming Service for Emergent Robot" 205-206, 2008

6 Hai, H., "Interaction System of Treadmill Games Based on Depth Maps and CAM-Shift" 219-222, 2011

7 Aris, A. J., "Design of Entertainment Mobile Robot" 298-303, 2003

8 Noh, J. S., "Control of a Mobile Pendulum System for a Boxing Robot Game" 408-412, 2008

9 Azuma, R. T., "A survey of augmented reality" 355-385, 1997