노치원 김승훈 김문준 강성철 홍석교 2024-01-21T01:33:17Z 2024-01-21T01:33:17Z 2021-09-06 2007-02 1976-5622 https://pubs.kist.re.kr/handle/201004/134678 This paper demonstrates the development of a mobile robot for patrol. We fuse differential GPS, angle sensor and odometry data using the framework of extended Kalman filter to localize a mobile robot in outdoor environments. An important feature of road environment is the existence of curbs. So, we also propose an algorithm to find out the position of curbs from laser range finder data using Hough transform. The mobile robot builds the map of the curbs of roads and the map is used for tracking and localization. The patrol robot system consists of a mobile robot and a control station. The mobile robot sends the image data from a camera to the control station. The remote control station receives and displays the image data. Also, the patrol robot system can be used in two modes, teleoperated or autonomous. In teleoperated mode, the teleoperator commands the mobile robot based on the image data. On the other hand, in autonomous mode, the mobile robot has to autonomously track the predefined waypoints. So, we have designed a path tracking controller to track the path. We have been able to confirm that the proposed algorithms show proper performances in outdoor environment through experiments in the road. 제어·로봇·시스템학회 DGPS와 연석추출을 이용한 순찰용 로봇의 개발 Development of Patrol Robot using DGPS and Curb Detection Article 2 제어.로봇.시스템학회 논문지, v.13, no.2, pp.140 - 146 제어.로봇.시스템학회 논문지 13 2 140 146 kci ART001194744 patrol robot EKF algorithm curb detection Hough transform path tracking controller