전시장 도슨트 로봇의 경로탐색을 위한 위치추적 보정 알고리즘

Abstract

In this paper, a location tracking compensation algorithm based on the Least-Squares Method (LCALSM) was proposed to improve the autonomous tracking efficiency for the docent robot in exhibition hall, and the performance of the LCALSM is analyzed by several practical experiments. The proposed LCALSM compensates the collected location coordinates for the robot using the Least-Squares Method (LSM) in order to reduce the cumulated errors that occur in the Encoder/Giro sensor (E/G) and to enhance the measured tracking accuracy rates in the autonomous tracking of the robot in exhibition hall. By experiments, it was confirmed that the average error reduction rates of the LCALSM are higher as 4.85% than that of the LCAKF in Scenario 1 (S1) and Scenario 2 (S2), respectively on the location tracking. In addition, it was also confirmed that the standard deviation in the measured errors of the LCALSM are much more low and constant compared to that of the E/G sensor and the LCAKF in S1 and S2 respectively. Finally, we see that the suggested LCALSM can execute more the stabilized location tracking than the E/G sensors and the LCAKF on the straight lines of S1 and S2 for the docent robot. 논문 15-40-04-14 The Journal of Korean Institute of Communications and Information Sciences '15-04 Vol.40 No.04 http://dx.doi.org/10.7840/kics.2015.40.4.723 723 ※ 이 논문은 2013학년도 동명대학교 연구년 지원에 의하여 연구되었음 First Author : Tongmyong University, Department of Computer Engineering, evangelionxg@naver.com, 학생회원 ° Corresponding Author : Tongmyong University, Department of Computer Engineering, dmlee@tu.ac.kr, 종신회원 논문번호:KICS2014-06-235, Received June 12, 2014; Revised March 31, 2015; Accepted April 10, 2015 The Journal of Korean Institute of Communications and Information Sciences '15-04 Vol.40 No.04