초음파 위치 시스템을 이용한 차량 로봇의 위치 추정 알고리즘 연구

Abstract

The kinematic modeling of one 4-wheel skid steering vehicle robot and the localization algorithm using the ultrasonic positioning system are presented at this time last year. But, it is difficult to verify the proposed localization algorithm because external exact reference data is out of existence. So, in this paper, the falcon analog system is included in the established experiment environment to get reference data. The falcon analog system is comprised of high resolution cameras, video processor, hardware, and software that can measure complex motion characteristics with accuracy. Finally, the proposed localization algorithm data is compared to the falcon analog camera data that are verified via experimental.