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옵티컬 플로우 추정을 이용한 비정형 환경에서의 무한궤도형 모바일 로봇의 이동성 향상 Enhancing Mobility Using Optical Flow Estimation of a Tracked Mobile Robot on Unstructured Environments

김민규, 심유섭, 이상룡, 이학
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  • URLhttp://db.koreascholar.com/Article/Detail/387317
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한국기계기술학회지 (韓國機械技術學會誌)
제21권 제6호 (2019.12)
pp.1131-1135
한국기계기술학회 (Korean Society of Mechanical Technology)
초록

This paper proposes a method to reduce the pose error and to solve the dead reckoning issue which occurs when the mobile robot with continuous-tracks travels in the unstructured environments. When the continuous-track type mobile platform travels on terrain such as sand, gravel, stairs and etc., slippage occurs and thus the driving state of the mobile robot cannot be recognized normally. To compensate for this pose error, the proposed method utilizes optical flow estimation detected by camera. This method is tested through experiment. Finally, This method reduces the pose error detected on inertia measurement unit within some limit, while the pose error of without compensation increases without limit during robot move.

키워드
Mobile robotContinuous-trackComputer visionOptical flowPose estimation
목차
ABSTRACT
1. 서 론
2. 비전 기반 모바일 로봇 상태 추정 시스템
    2.1 무한궤도 모바일 로봇
    2.2 옵티컬 플로우 기반 모바일 로봇 상태 추정 알고리즘
3. 실험 방법 및 결과
    3.1 요철이 있는 평지에서의 실험 환경
    3.2 실험 결과
4. 결 론
References
저자
  • 김민규(School of Mechanical Engineering, Kyungpook National University) | Min-Gyu Kim
  • 심유섭(School of Mechanical Engineering, Kyungpook National University) | Yu-Seop Sim
  • 이상룡(School of Mechanical Engineering, Kyungpook National University) | Sang-Ryong Lee Corresponding Author
  • 이학(School of Mechanical Engineering, Kyungpook National University) | Hak Yi Corresponding Author