로봇학회논문지 제15권 제1호(통권 제55호) (p.55-61)

RGB-D 센서를 이용한 이동로봇의 안전한 엘리베이터 승하차

Getting On and Off an Elevator Safely for a Mobile Robot Using RGB-D Sensors
키워드 :
Mobil Robot,Multi-Floor Navigation,RGB-D Sensor,Particle Filter,Optical Flow

목차

Abstract
1. 서 론
2. 엘리베이터 문의 위치 인식
   2.1 엘리베이터 샘플 등록
   2.2 엘리베이터 샘플 확산
   2.3 가중치 모델링
   2.4 엘리베이터 샘플 재배열 및 수렴 판단
3. 안전한 승하차
   3.1 안전 승하차 경로계획
   3.2 로봇의 이동 불가 상태 감지
4. 실험 결과
   4.1 엘리베이터 문의 위치인식 실험
   4.2 안전 승하차 실험
5. 결 론
References

초록

Getting on and off an elevator is one of the most important parts for multi-floor navigation of a mobile robot. In this study, we proposed the method for the pose recognition of elevator doors, safe path planning, and motion estimation of a robot using RGB-D sensors in order to safely get on and off the elevator. The accurate pose of the elevator doors is recognized using a particle filter algorithm. After the elevator door is open, the robot builds an occupancy grid map including the internal environments of the elevator to generate a safe path. The safe path prevents collision with obstacles in the elevator. While the robot gets on and off the elevator, the robot uses the optical flow algorithm of the floor image to detect the state that the robot cannot move due to an elevator door sill. The experimental results in various experiments show that the proposed method enables the robot to get on and off the elevator safely.