DC Field | Value | Language |
---|---|---|
dc.contributor.author | Min, BK | - |
dc.contributor.author | Cho, DW | - |
dc.contributor.author | Lee, SJ | - |
dc.contributor.author | Park, YP | - |
dc.date.accessioned | 2016-03-31T14:22:25Z | - |
dc.date.available | 2016-03-31T14:22:25Z | - |
dc.date.created | 2009-02-28 | - |
dc.date.issued | 1996-03 | - |
dc.identifier.issn | 0022-0434 | - |
dc.identifier.other | 1996-OAK-0000009375 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/21610 | - |
dc.description.abstract | This paper suggests a new exploration strategy of an autonomous mobile robot in an unknown environment. Determination of a temporary goal based on a representation of work area named exploration quadtree is proposed. The exploration quadtree provides the information on quality of the regions concerned in a robot's workspace. Using this quadtree the robot easily finds the next temporary goal that makes exploration move efficient. The quadtree is made up from a sonar probability map that is constructed by sonar range sensing and Bayesian probability theory. We then propose a method that plans a path between the determined temporary goals based on a probability map. The developed methods were implemented on a real mobile robot, AMROYS-II, which was built in our laboratory, and shown to be useful enough in a real environment that cart be projected onto a two-dimensional space. | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | ASME-AMER SOC MECHANICAL ENG | - |
dc.relation.isPartOf | JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | - |
dc.subject | OBSTACLE AVOIDANCE | - |
dc.title | Exploration of a mobile robot based on sonar probability mapping | - |
dc.type | Article | - |
dc.contributor.college | 기계공학과 | - |
dc.identifier.doi | 10.1115/1.2801136 | - |
dc.author.google | MIN, BK | - |
dc.author.google | CHO, DW | - |
dc.author.google | LEE, SJ | - |
dc.author.google | PARK, YP | - |
dc.relation.volume | 118 | - |
dc.relation.issue | 1 | - |
dc.relation.startpage | 150 | - |
dc.relation.lastpage | 157 | - |
dc.contributor.id | 10102903 | - |
dc.relation.journal | JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCI | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, v.118, no.1, pp.150 - 157 | - |
dc.identifier.wosid | A1996UC80300022 | - |
dc.date.tcdate | 2018-03-23 | - |
dc.citation.endPage | 157 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 150 | - |
dc.citation.title | JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | - |
dc.citation.volume | 118 | - |
dc.contributor.affiliatedAuthor | Cho, DW | - |
dc.identifier.scopusid | 2-s2.0-33747296178 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.type.docType | Article | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Instruments & Instrumentation | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Instruments & Instrumentation | - |
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