Title:
GLOBAL POSITION ESTIMATION AND CORRECTION METHOD OF MOBILE ROBOT USING MAGNETIC LANDMARKS
Document Type and Number:
WIPO Patent Application WO/2011/084012
Kind Code:
A2
Abstract:
The present invention relates to a positional error estimation and correction method of a mobile robot, and more specifically, to a global position estimation and correction method of a mobile robot using magnetic landmarks, in which the mobile robot recognizes patterns of a particular landmark and a neighboring landmark and compares the recognized patterns with a stored landmark space map, if the mobile robot with four hall sensors attached on the bottom surface thereof moves on a mobile plate on which multiple kinds of landmarks formed by changing the arrangement of magnets are disposed, thereby easily estimating coordinate values of an absolute position of a landmark at which the mobile robot is currently positioned, and easily correcting positional errors of the mobile robot. The present invention, that is, the global position estimation and correction method of the mobile robot using the magnetic landmarks, is comprised of constituent means, and the global position estimation and correction method of the mobile robot using the magnetic landmarks comprises the steps of: estimating coordinate values of an absolute position of a landmark at which the mobile robot is currently positioned, by recognizing a pattern of a particular landmark at which the mobile robot is positioned and a pattern of a neighboring landmark; estimating positional errors (xe, ye, θe) of the mobile robot which deviates from the estimated coordinate values of the absolute position of the landmark; and correcting the positional errors by moving the mobile robot as much as the estimated positional errors (xe, ye, θe), so that the mobile robot may move to the coordinate values of the absolute position of the landmark.
Inventors:
CHOI, Hyouk Ryeol (#104-104, Yongho Maeul Sinsanbon LG Xi 1-chaDang-dong, Gunpo-si, Gyeonggi-do 435-010, 435-010, KR)
최혁렬 (경기도 군포시 당동 용호마을 신산본 엘지자이 1차 104동 104호, 435-010 Gyeonggi-do, 435-010, KR)
KOO, Ja Choon (#10-602, Sampung Apt. 1685, Seocho 4-dong, Seocho-gu, Seoul 137-074, 137-074, KR)
구자춘 (서울특별시 서초구 서초4동 1685 삼풍아파트 10동 602호, 137-074 Seoul, 137-074, KR)
MOON, Hyung Pil (#103-303, Yangji Maeul Kumho 1 Danji Apt. Sunae-dong,Bundang-gu, Seongnam-si, Gyeonggi-do 463-020, 463-020, KR)
문형필 (경기도 성남시 분당구 수내동 양지마을금호1단지 아파트 103동 303호, 463-020 Gyeonggi-do, 463-020, KR)
최혁렬 (경기도 군포시 당동 용호마을 신산본 엘지자이 1차 104동 104호, 435-010 Gyeonggi-do, 435-010, KR)
KOO, Ja Choon (#10-602, Sampung Apt. 1685, Seocho 4-dong, Seocho-gu, Seoul 137-074, 137-074, KR)
구자춘 (서울특별시 서초구 서초4동 1685 삼풍아파트 10동 602호, 137-074 Seoul, 137-074, KR)
MOON, Hyung Pil (#103-303, Yangji Maeul Kumho 1 Danji Apt. Sunae-dong,Bundang-gu, Seongnam-si, Gyeonggi-do 463-020, 463-020, KR)
문형필 (경기도 성남시 분당구 수내동 양지마을금호1단지 아파트 103동 303호, 463-020 Gyeonggi-do, 463-020, KR)
Application Number:
KR2011/000125
Publication Date:
July 14, 2011
Filing Date:
January 07, 2011
Export Citation:
Assignee:
SUNGKYUNKWAN UNIVERSITY FOUNDATION FOR CORPORATE COLLABORATION (Sungkyunkwan UNIV, 300 Cheoncheon-dong, Jangan-gu, Suwon-si, Gyeonggi-do 440-746, 440-746, KR)
성균관대학교 산학협력단 (경기도 수원시 장안구 천천동 300 성균관대학교내, 440-746 Gyeonggi-do, 440-746, KR)
CHOI, Hyouk Ryeol (#104-104, Yongho Maeul Sinsanbon LG Xi 1-chaDang-dong, Gunpo-si, Gyeonggi-do 435-010, 435-010, KR)
최혁렬 (경기도 군포시 당동 용호마을 신산본 엘지자이 1차 104동 104호, 435-010 Gyeonggi-do, 435-010, KR)
KOO, Ja Choon (#10-602, Sampung Apt. 1685, Seocho 4-dong, Seocho-gu, Seoul 137-074, 137-074, KR)
구자춘 (서울특별시 서초구 서초4동 1685 삼풍아파트 10동 602호, 137-074 Seoul, 137-074, KR)
MOON, Hyung Pil (#103-303, Yangji Maeul Kumho 1 Danji Apt. Sunae-dong,Bundang-gu, Seongnam-si, Gyeonggi-do 463-020, 463-020, KR)
성균관대학교 산학협력단 (경기도 수원시 장안구 천천동 300 성균관대학교내, 440-746 Gyeonggi-do, 440-746, KR)
CHOI, Hyouk Ryeol (#104-104, Yongho Maeul Sinsanbon LG Xi 1-chaDang-dong, Gunpo-si, Gyeonggi-do 435-010, 435-010, KR)
최혁렬 (경기도 군포시 당동 용호마을 신산본 엘지자이 1차 104동 104호, 435-010 Gyeonggi-do, 435-010, KR)
KOO, Ja Choon (#10-602, Sampung Apt. 1685, Seocho 4-dong, Seocho-gu, Seoul 137-074, 137-074, KR)
구자춘 (서울특별시 서초구 서초4동 1685 삼풍아파트 10동 602호, 137-074 Seoul, 137-074, KR)
MOON, Hyung Pil (#103-303, Yangji Maeul Kumho 1 Danji Apt. Sunae-dong,Bundang-gu, Seongnam-si, Gyeonggi-do 463-020, 463-020, KR)
International Classes:
B25J9/10; G05D1/02
Attorney, Agent or Firm:
CHO, Young Hyun (3F Focus building, 725-25 Yeoksam-dong, Gangnam-gu, Seoul 135-080, 135-080, KR)
Claims: