자동차형 로봇의 도시 실외에서의 효율적인 위치 추정 및 네비게이션 시스템의 구현An Efficient Urban Outdoor Localization and Navigation System for Car-like Mobile Robots

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dc.contributor.author윤건우ko
dc.contributor.author김진백ko
dc.contributor.author김병국ko
dc.date.accessioned2015-11-20T12:35:10Z-
dc.date.available2015-11-20T12:35:10Z-
dc.date.created2014-02-05-
dc.date.created2014-02-05-
dc.date.issued2013-08-
dc.identifier.citation제어.로봇.시스템학회 논문지, v.19, no.8, pp.745 - 754-
dc.identifier.issn1976-5622-
dc.identifier.urihttp://hdl.handle.net/10203/201566-
dc.description.abstractAn efficient urban outdoor localization and navigation system is proposed for car-like robots. First an accurate outdoor localization method is suggested using line/arc features and 2.5D map matching with LRFs (Laser Range Finders), which can reduce the number of singular cases and increase accuracy. Also, path generation, path tracking, and path modification algorithms are proposed for navigation. All these algorithms are implemented on an electric scooter to construct an autonomous urban outdoor localization and navigation system. Experiments reveal the practicality of the proposed system.-
dc.languageKorean-
dc.publisher제어·로봇·시스템학회-
dc.title자동차형 로봇의 도시 실외에서의 효율적인 위치 추정 및 네비게이션 시스템의 구현-
dc.title.alternativeAn Efficient Urban Outdoor Localization and Navigation System for Car-like Mobile Robots-
dc.typeArticle-
dc.identifier.scopusid2-s2.0-84887130373-
dc.type.rimsART-
dc.citation.volume19-
dc.citation.issue8-
dc.citation.beginningpage745-
dc.citation.endingpage754-
dc.citation.publicationname제어.로봇.시스템학회 논문지-
dc.identifier.kciidART001791671-
dc.contributor.localauthor김병국-
dc.contributor.nonIdAuthor윤건우-
dc.contributor.nonIdAuthor김진백-
dc.subject.keywordAuthorCar-like mobile robot-
dc.subject.keywordAuthorLocalization-
dc.subject.keywordAuthorLRF-
dc.subject.keywordAuthorNavigation-
dc.subject.keywordAuthorUrban outdoor-
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EE-Journal Papers(저널논문)
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