실내 공간에서 이동 로봇의 납치 문제 해결을 위한 외부 영상 정보 및 절대 공간 좌표 활용 연구

Abstract

Abstract For such automatic monitoring robot or a robot cleaner that is utilized indoors, if it deviates from someoneby replacement or, or of a mobile robot such as collisions with unexpected object direction or planned path, based on the planned path There is a need to come back to, it is necessary to tough self-position estimation ability of mobilerobot in this, which is also associated with resolution of the kidnap problem of conventional mobile robot. In thisstudy, the case of a mobile robot, operates indoors, you want to take advantage of the low cost of the robot. Therefore, in this paper, by using the acquisition device to an external image information such as the CCTV whichis installed in a room, it acquires the environment image and take advantage of marker recognition of the mobilerobot at the same time and converted it absolutely spatial coordinates it is, we are trying to solve the self-position estimation of the mobile robot in the room and kidnap problem and actual implementation methods potential field to try utilizing robotic systems. Thus, by implementing the method proposed in this study to the actual robot system,and is promoting the relevant experiment was to verify the results.