Gazebo 시뮬레이터를 활용한 고층 건물에서의 이동 로봇 실내 자율주행 알고리즘 개발 = Development of Autonomous Driving Algorithm for Robots in High-rise Buildings Using Gazebo Simulator

다국어 초록 (Multilingual Abstract)

Robots need a safe ride to the elevator to navigate in a multi-layered environment. When passing through a narrow space, it is difficult for the robot to enter the elevator door because it senses the risk of collision and cannot pass. Many studies and experiments are needed for robots to safely board elevators. However, conducting a study using robots using elevators in real-world environments is challenging because of collision problems with dynamic obstacles such as people. Therefore, we must use a simulator to create a simulation environment similar to the actual environment. In this paper, we propose a method to make a multi-layered environment using the Gazebo simulator and an algorithm to board an elevator safely using an IMU sensor, LiDAR, and a camera.

다국어 초록 (Multilingual Abstract)

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참고문헌 (Reference)

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