장애물 위치 정보를 이용한 모바일 로봇의 2차원 지도 작성에 관한 연구 = Using the obstacle position information of the mobile robot in the two-dimensional cartography Study

다국어 초록 (Multilingual Abstract)

The purpose of this study is to build and manage environment models with line segments from sonar range data on obstacles in unknown and varied environments. The proposed method therefore employs a two-stage data-transform process in order to extract environmental line segments from range data on obstacles. In the first stage, the occupancy grid extracted from the range data is accumulated to form a two-dimensional local histogram grid. In the second stage, a line histogram extracted from a local histogram grid is based on a Hough transform, and matching serves asa means of comparing each of the segments on a global line segments map against the line segments to detect the degree of similarity inthe overlap, orientation, and arrangement. Each of these tests is formulated by comparing one of the parameters in the segment representation. After the tests, new line segments can be found at maximum-density cells in the line histogram, and they are composed onto the global line segment map. The proposed technique is demonstrated in experiments in an indoor environment.

목차 (Table of Contents)

• ABSTRACT
• 1. 서론
• 2. 지역 히스토그램 격자지도 생성
• 3. 격자지도로부터 직선선분 추출
• 4. 직선선분의 융합
• 5. 실험 및 결과
• 6. 결론 및 향후 연구 과제
• REFERENCES

참고문헌 (Reference)

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2 Borenstein, "The vector field histogram-fast obstacle avoidance for mobile robots" 7 : 278-288, 1991

3 I. Urich, "The GuideCane - A Computerized Travel Aid for the Active Guidance of Blind Pedestrians" The University of Michigan, 1997

4 R. C. Smith, "On the Representation and Estimation of Spatial Uncertainty" 5 (5): 56-68, 1987

5 J. Borenstein, "Obstacle Avoidance with Ultrasonic Sensor" 4 (4): 213-218, 1988

6 B. Yamauchi, "Mobile robot exploration and map-building with continuous localization" 4 : 3715-3720, 1998

7 J. L. Crowley, "Mathematical Foundations of Navigation and Perception For an Autonomous Mobile Robot" University of Amsterdam 1995

8 K. S. Chong, "Indoor Exploration Using Sonar Sensor Array : ADual Representation Strategy" 676-682, 1997

9 D. H. Ballard, "Computer Vision" PRESENT-HALL 123-131, 1982

10 J. Gasos, "A fuzzy approach to build sonar maps for mobile robots" 32 : 151-167, 1996