RISS 학술연구정보서비스

검색
다국어 입력

http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.

변환된 중국어를 복사하여 사용하시면 됩니다.

예시)
  • 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
  • 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
닫기
    인기검색어 순위 펼치기

    RISS 인기검색어

      KCI등재 SCOPUS

      global map building and navigation of mobile robot based on ultranosic sensor data fusion

      한글로보기

      https://www.riss.kr/link?id=A103982812

      • 0

        상세조회
      • 0

        다운로드
      서지정보 열기
      • 내보내기
      • 내책장담기
      • 공유하기
      • 오류접수

      부가정보

      다국어 초록 (Multilingual Abstract)

      In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose a...

      In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.

      더보기

      참고문헌 (Reference)

      1 "a Geometrical Sonar Maps for Mobile Robots" 209-212, 2001.

      2 "World modeling and position estimation for a mobile robot using ultrasonic ranging" 2 : 67468-,

      3 "Triangulation-based fusion of sonar data with application in robot pose tracking" 16 (16): 740752-, Dec.2000.

      4 "Sonar-based real-world mapping and navigation" ra-3 : 249265-,

      5 "Sonar-Based Navigation Experiments on a Mobile Robot in Indoor Environments" 395-401, 2000.

      6 "Simultaneous map building and localization for an autonomous mobile robot in Proc. IEEE/RSJ Int. Workshop on Intell. Robots and Systems" 14421447-, nov.1991

      7 "Robust mobile robot localization from sparse and noisy proximity readings using Hough transform and probability grids" 37:1-18, 2001.

      8 "On-the-fly Classifying Sonar with Accurate Range and Bearing Estimation" 178-183, Oct,2002

      9 "Learning globally consistent maps by relaxation" 4 : 3841-3846, 2000.

      10 "Interference cancelling in ultrasonic sensor arrays by stochastic coding and adaptive filtering" 1998.

      1 "a Geometrical Sonar Maps for Mobile Robots" 209-212, 2001.

      2 "World modeling and position estimation for a mobile robot using ultrasonic ranging" 2 : 67468-,

      3 "Triangulation-based fusion of sonar data with application in robot pose tracking" 16 (16): 740752-, Dec.2000.

      4 "Sonar-based real-world mapping and navigation" ra-3 : 249265-,

      5 "Sonar-Based Navigation Experiments on a Mobile Robot in Indoor Environments" 395-401, 2000.

      6 "Simultaneous map building and localization for an autonomous mobile robot in Proc. IEEE/RSJ Int. Workshop on Intell. Robots and Systems" 14421447-, nov.1991

      7 "Robust mobile robot localization from sparse and noisy proximity readings using Hough transform and probability grids" 37:1-18, 2001.

      8 "On-the-fly Classifying Sonar with Accurate Range and Bearing Estimation" 178-183, Oct,2002

      9 "Learning globally consistent maps by relaxation" 4 : 3841-3846, 2000.

      10 "Interference cancelling in ultrasonic sensor arrays by stochastic coding and adaptive filtering" 1998.

      11 "Histogramic In-Motion Mapping for Mobile Robot Obstacle Avoidance" 7 : 535-539, 1991.

      12 "Comparative Analysis of Different Approaches to Target Classification and Localization with Sonar" 25-30, August,2001.

      13 "An optimal sonar array for target localization and classification" 4 : 31303135-,

      14 "An Evidential Approach to Map-Building for Autonomous Vehicles" 14 : 623-629, August1998

      더보기

      동일학술지(권/호) 다른 논문

      동일학술지 더보기

      더보기

      분석정보

      View

      상세정보조회

      0

      Usage

      원문다운로드

      0

      대출신청

      0

      복사신청

      0

      EDDS신청

      0

      동일 주제 내 활용도 TOP

      더보기

      주제

      연도별 연구동향

      연도별 활용동향

      연관논문

      연구자 네트워크맵

      공동연구자 (7)

      유사연구자 (20) 활용도상위20명

      인용정보 인용지수 설명보기

      학술지 이력

      학술지 이력
      연월일 이력구분 이력상세 등재구분
      2023 평가예정 해외DB학술지평가 신청대상 (해외등재 학술지 평가)
      2020-01-01 평가 등재학술지 유지 (해외등재 학술지 평가) KCI등재
      2013-01-01 평가 등재 1차 FAIL (등재유지) KCI등재
      2010-01-01 평가 등재학술지 유지 (등재유지) KCI등재
      2008-02-18 학회명변경 한글명 : 한국퍼지및지능시스템학회 -> 한국지능시스템학회
      영문명 : Korea Fuzzy Logic And Intelligent Systems Society -> Korean Institute of Intelligent Systems
      KCI등재
      2007-01-01 평가 등재학술지 선정 (등재후보2차) KCI등재
      2006-01-01 평가 등재후보 1차 PASS (등재후보1차) KCI등재후보
      2004-07-01 평가 등재후보학술지 선정 (신규평가) KCI등재후보
      더보기

      학술지 인용정보

      학술지 인용정보
      기준연도 WOS-KCI 통합IF(2년) KCIF(2년) KCIF(3년)
      2016 0.43 0.43 0.4
      KCIF(4년) KCIF(5년) 중심성지수(3년) 즉시성지수
      0.35 0.35 0.853 0.05
      더보기

      이 자료와 함께 이용한 RISS 자료

      나만을 위한 추천자료

      해외이동버튼