오류 역전파 신경망 기반의 센서융합을 이용한 이동로봇의 효율적인 지도 작성

Title
오류 역전파 신경망 기반의 센서융합을 이용한 이동로봇의 효율적인 지도 작성
Other Titles
An Effective Mapping for a Mobile Robot using Error Backpropagation based Sensor Fusion
Author(s)
이석규김경동[김경동]곡효천[곡효천]최경식
Keywords
Sensor Fusion (센서 융합); Mobile Robot (이동로봇); Backpropagation (역전파); Neural Networks (신경망)
Issue Date
201109
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.28, no.9, pp.1040 - 1047
Abstract
This paper proposes a novel method based on error back propagation neural networks to fuse laser sensor data and ultrasonic sensor data for enhancing the accuracy of mapping. For navigation of single robot, the robot has to know its initial position and accurate environment information around it. However, due to the inherent properties of sensors, each sensor has its own advantages and drawbacks. In our system, the robot equipped with seven ultrasonic sensors and a laser sensor navigates to map two different corridor environments. The experimental results show the effectiveness of the heterogeneous sensor fusion using an error backpropagation algorithm for mapping.
URI
http://hdl.handle.net/YU.REPOSITORY/24504
ISSN
1225-9071
Appears in Collections:
공과대학 > 전기공학과 > Articles
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