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안내 로봇 실용화를 위한 비 관성센서 기반 옥외용 위치평가

임종환1,#, 강승균2

Non-Inertial Sensor-Based Outdoor Localization for Practical Application of Guide Robots

Jong Hwan Lim1,#, Seung Kyoon Kang2
Journal of the Korean Society for Precision Engineering 2017;34(5):315-321.
Published online: May 1, 2017

1 제주대학교 메카트로닉스공학과

2 제주관광대학교 해군기술부사관계열

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#E-mail: jhlim@jejunu.ac.kr, TEL: +82-64-754-3712, FAX: +82-64-751-3710
• Received: September 5, 2016   • Revised: November 4, 2016   • Accepted: February 7, 2017

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Non-Inertial Sensor-Based Outdoor Localization for Practical Application of Guide Robots
J. Korean Soc. Precis. Eng.. 2017;34(5):315-321.   Published online May 1, 2017
DOI: https://doi.org/10.7736/KSPE.2017.34.5.315
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Non-Inertial Sensor-Based Outdoor Localization for Practical Application of Guide Robots
J. Korean Soc. Precis. Eng.. 2017;34(5):315-321.   Published online May 1, 2017
DOI: https://doi.org/10.7736/KSPE.2017.34.5.315
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Non-Inertial Sensor-Based Outdoor Localization for Practical Application of Guide Robots
Image Image Image Image Image Image Image Image Image Image
Fig. 1 System model
Fig. 2 Flowchart for localization simulation
Fig. 3 Simulation results
Fig. 4 Error characteristics
Fig. 5 Pioneer robot with navigation sensors
Fig. 6 Experimental environment
Fig. 7 Localization results without compass
Fig. 8 Localization results with compass
Fig. 9 Comparison of errors for each position
Fig. 10 Experimental results for complex environments

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Fig. 9

Fig. 10

Non-Inertial Sensor-Based Outdoor Localization for Practical Application of Guide Robots
Sensor Std. Mean
DGPS x(m) 3.0 0.0
y(m) 3.0 0.0
Compass θ(°) 3.0 0.0
DR (Encoder) x(m) 0.2 0.0
y(m) 0.2 0.0
x(m) 0.2 0.1
Sensor Model Accuracy
DGPS ASCEN 680 2.5 m
Compass Honeywell HMC 6325 ±2.5°
Method Max. Avg. Std.
DGPS only 4.6 2.0 1.7
EKF without compass 3.2 1.6 0.8
EKF with compass 2.2 0.9 0.6
Table 1 Statistical characteristic of errors for simulation
Table 2 Specifications of sensors
Table 3 Error characteristics of each localization method (unit : m)

Table 1

Table 2

Table 3

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