노치원 이성하 강성철 홍석교 2024-01-21T01:30:48Z 2024-01-21T01:30:48Z 2021-09-06 2007-03 1976-5622 https://pubs.kist.re.kr/handle/201004/134574 Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robots localization and navigation. In this paper, we developed a laser sensor scan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robots attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire. 제어·로봇·시스템학회 확률론에 기반한 점자블록 추종 알고리즘 및 센서장치의 개발 Development of Sensor Device and Probability-based Algorithm for Braille-block Tracking Article 2 제어.로봇.시스템학회 논문지, v.13, no.3, pp.249 - 255 제어.로봇.시스템학회 논문지 13 3 249 255 kci ART001056792 braille-block MCL algorithm laser sensor scan device rescue robot autonomous navigation braille-block MCL algorithm laser sensor scan device rescue robot autonomous navigation