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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.6 No.1 pp.42-48

좁은 환경에서 초음파 및 적외선 센서를 융합한 강인한 지도작성

한 혜 민1, 송 재 복2
1고려대학교 기계공학과 석사과정, 2고려대학교 기계공학부 교수

Robust Map Building in Narrow Environments based on Combination of Sonar and IR Sensors

Hye‐Min Han1, Jae‐Bok Song2

Received : Aug.28.2010, Reviewed : Dec.17.2010, Accepted : Dec.29.2010


It is very important for a mobile robot to recognize and model its environments fornavigation. However, the grid map constructed by sonar sensors cannot accurately represent theenvironment, especially the narrow environment, due to the angular uncertainty of sonar data.Therefore, we propose a map building scheme which combines sonar sensors and IR sensors. Themaps built by sonar sensors and IR sensors are combined with different weights which are determinedby the degree of translational and rotational motion of a robot. To increase the effectiveness of sensorfusion, we also propose optimal sensor arrangement through various experiments. The experimentalresults show that the proposed method can represent the environment such as narrow corridor andopen door more accurately than conventional sonar sensor‐based map building methods.


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