Pub Date : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649765
Yun Ho Choi, Doik Kim
In this paper, the goal assignment problem of second-order multi-agent systems is considered in the leader-following formation control framework. The goals of followers, which are defined as their relative positions with respect to the leader corresponding to a predefined target shape, are assumed to be interchangeable. During the operation of the multi -agent systems, the goals of a pair of followers are exchanged locally if an assignment condition is satisfied. Compared with the existing goal assignment studies utilizing the position information, the main feature of this paper is to derive a velocity-based assignment condition to deal with the assignment problem of second-order multi-agent systems. Based on the proposed goal assignment algorithm, it is verified that the transient leader-following formation control performance is improved in the sense of Lyapunov. Simulation results are presented to demonstrate the effectiveness of our theoretical results.
{"title":"Goal Assignment in Leader-Following Formation Control of Second-Order Multi-Agent Systems","authors":"Yun Ho Choi, Doik Kim","doi":"10.23919/ICCAS52745.2021.9649765","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649765","url":null,"abstract":"In this paper, the goal assignment problem of second-order multi-agent systems is considered in the leader-following formation control framework. The goals of followers, which are defined as their relative positions with respect to the leader corresponding to a predefined target shape, are assumed to be interchangeable. During the operation of the multi -agent systems, the goals of a pair of followers are exchanged locally if an assignment condition is satisfied. Compared with the existing goal assignment studies utilizing the position information, the main feature of this paper is to derive a velocity-based assignment condition to deal with the assignment problem of second-order multi-agent systems. Based on the proposed goal assignment algorithm, it is verified that the transient leader-following formation control performance is improved in the sense of Lyapunov. Simulation results are presented to demonstrate the effectiveness of our theoretical results.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126341882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649989
Junwoo Jason Son, Youngbin Son, Byeongho Song, Soohee Han
In this conference paper, we proposed pixel-wise distortion model and its calibration method for AMCW (Amplitude Modulated Continuous Wave) LiDAR (Light Detection and Ranging). The proposed model can be reflect square wave distortion, common mode error and non-linear characteristic of the receiving circuit. The model characterise the distance error with actual distance and amplitude of the DCS (Differential Correlation Sample). A simple calibration method is also announced in order to use the proposed model. The method uses modulation signal delay and shutter speed variation to measure the response of the receiving circuit. The experiment was carried out with various signal delay and shutter speed under simple calibration box. The result shows the response of the AMCW LiDAR was changed by both inputs and also the AMCW LiDAR can measure the distance without these errors by using the proposed model and calibration method.
{"title":"Pixel-wise distortion model and its calibration method for AMCW LiDAR","authors":"Junwoo Jason Son, Youngbin Son, Byeongho Song, Soohee Han","doi":"10.23919/ICCAS52745.2021.9649989","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649989","url":null,"abstract":"In this conference paper, we proposed pixel-wise distortion model and its calibration method for AMCW (Amplitude Modulated Continuous Wave) LiDAR (Light Detection and Ranging). The proposed model can be reflect square wave distortion, common mode error and non-linear characteristic of the receiving circuit. The model characterise the distance error with actual distance and amplitude of the DCS (Differential Correlation Sample). A simple calibration method is also announced in order to use the proposed model. The method uses modulation signal delay and shutter speed variation to measure the response of the receiving circuit. The experiment was carried out with various signal delay and shutter speed under simple calibration box. The result shows the response of the AMCW LiDAR was changed by both inputs and also the AMCW LiDAR can measure the distance without these errors by using the proposed model and calibration method.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121584935","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649857
Redhwan Algabri, Mun-Taek Choi
Tracking a specific person in environments with non-uniform illumination is a difficult task for mobile robots. Image information such as color is essential to identify a target person. However, the information is not reliable under severe illumination changes unless the system can accommodate these changes over time. In this paper, we propose a robust identifier that has been combined with a deep learning technique to accommodate varying illumination in the ambient lighting of a scene. Moreover, an enhanced online update strategy for the person identification model is used to deal with the challenge of drifting the target person's appearance changes during tracking. Using the proposed method, the system achieves a successfully tracked rate above 90% on real-world video sequences in which variations in illumination are dominant. We confirmed the effectiveness of the proposed method through target-following experiments using five different clothing colors in a real indoor environment where the lighting conditions change extremely.
{"title":"Robust Person Following Under Severe Indoor Illumination Changes for Mobile Robots: Online Color-Based Identification Update","authors":"Redhwan Algabri, Mun-Taek Choi","doi":"10.23919/ICCAS52745.2021.9649857","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649857","url":null,"abstract":"Tracking a specific person in environments with non-uniform illumination is a difficult task for mobile robots. Image information such as color is essential to identify a target person. However, the information is not reliable under severe illumination changes unless the system can accommodate these changes over time. In this paper, we propose a robust identifier that has been combined with a deep learning technique to accommodate varying illumination in the ambient lighting of a scene. Moreover, an enhanced online update strategy for the person identification model is used to deal with the challenge of drifting the target person's appearance changes during tracking. Using the proposed method, the system achieves a successfully tracked rate above 90% on real-world video sequences in which variations in illumination are dominant. We confirmed the effectiveness of the proposed method through target-following experiments using five different clothing colors in a real indoor environment where the lighting conditions change extremely.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121157124","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649838
Yonghwan Jeong
This paper presents a path tracking control algorithm for four-wheel steering autonomous vehicles. The proposed controller utilized the direct yaw moment control approach for path tracking of the autonomous vehicle. The path tracking algorithm consists of three parts, desired yaw-rate decision, adaptive sliding mode control, and control allocation. The desired yaw rate has been determined based on the geometric relationship between a reference path and vehicle position. A required yaw-moment to tracking the desired yaw-rate has been decided by using an adaptive sliding mode control approach to compensate for the linear tire model assumption. Since the four-wheel steering vehicle is an overactuated system, the optimization-based control allocation has been introduced to determine the front and rear-wheel steering inputs, respectively, considering a control effort, actuator limit, ride comfort, and body slip. The simulation study has been conducted to compare the path tracking performance of the base controller using front steering and the proposed algorithm. It has been shown from the simulations that the path tracking performance has been improved in a driving situation with a high curvature and a steep road slope.
{"title":"Path Tracking Control for Four-Wheel-Steering Autonomous Vehicles based on Adaptive Sliding Mode Control with Control Allocation","authors":"Yonghwan Jeong","doi":"10.23919/ICCAS52745.2021.9649838","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649838","url":null,"abstract":"This paper presents a path tracking control algorithm for four-wheel steering autonomous vehicles. The proposed controller utilized the direct yaw moment control approach for path tracking of the autonomous vehicle. The path tracking algorithm consists of three parts, desired yaw-rate decision, adaptive sliding mode control, and control allocation. The desired yaw rate has been determined based on the geometric relationship between a reference path and vehicle position. A required yaw-moment to tracking the desired yaw-rate has been decided by using an adaptive sliding mode control approach to compensate for the linear tire model assumption. Since the four-wheel steering vehicle is an overactuated system, the optimization-based control allocation has been introduced to determine the front and rear-wheel steering inputs, respectively, considering a control effort, actuator limit, ride comfort, and body slip. The simulation study has been conducted to compare the path tracking performance of the base controller using front steering and the proposed algorithm. It has been shown from the simulations that the path tracking performance has been improved in a driving situation with a high curvature and a steep road slope.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121175398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649809
Jiyoun Moon, Sung-Hoon Bae
As the roles of robots have expanded, flexible task planning frameworks have received significant attention in various domains. In particular, task planning based on multi-agent systems is essential because tasks can be performed efficiently in broad areas by utilizing such systems. This paper proposes various task-planning methods according to the communication statuses of robots. The proposed methods were successfully verified through experiments in which a multi-agent system consisting of a central control system and several robots was applied. Our experimental setup assumed that the central control system and robots had different communication statuses.
{"title":"Hierarchical Task Planning Considering Communication Status for Multi-Robot System","authors":"Jiyoun Moon, Sung-Hoon Bae","doi":"10.23919/ICCAS52745.2021.9649809","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649809","url":null,"abstract":"As the roles of robots have expanded, flexible task planning frameworks have received significant attention in various domains. In particular, task planning based on multi-agent systems is essential because tasks can be performed efficiently in broad areas by utilizing such systems. This paper proposes various task-planning methods according to the communication statuses of robots. The proposed methods were successfully verified through experiments in which a multi-agent system consisting of a central control system and several robots was applied. Our experimental setup assumed that the central control system and robots had different communication statuses.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123757031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649942
Takumi Wakabayashi, Yuma Nunoya, Satoshi Suzuki
Recently, in order to carry out tasks efficiently such as infrastructure inspection and goods transportation, operations using multi-rotor Unmanned Aerial Vehicles (UAVs) in formation flight are often considered. One of the main issues in motion planning among multiple UAVs is collision avoidance. Model Predictive Control (MPC) is characterized by its ability to consider collision avoidance in the framework of constrained optimization. For this reason, there have been many studies on collision avoidance using MPC, but few studies take into account the uncertainty that occurs in real environments. On the other hand, Chance constrained MPC (CCMPC) is considered to be more robust in collision avoidance due to the consideration of uncertainty. However, the structure of the collision probability constraint equation to be introduced into the evaluation function of MPC has not been sufficiently studied. In this study, the structure of equations for incorporating probability constraints into the evaluation function is examined. Moreover, by quantitatively comparing the equations with the same structure with deterministic constraints introduced into the evaluation function, the difference in collision avoidance is clarified.
{"title":"Dynamic Obstacle Avoidance of Multi-Rotor UAV using Chance Constrained MPC","authors":"Takumi Wakabayashi, Yuma Nunoya, Satoshi Suzuki","doi":"10.23919/ICCAS52745.2021.9649942","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649942","url":null,"abstract":"Recently, in order to carry out tasks efficiently such as infrastructure inspection and goods transportation, operations using multi-rotor Unmanned Aerial Vehicles (UAVs) in formation flight are often considered. One of the main issues in motion planning among multiple UAVs is collision avoidance. Model Predictive Control (MPC) is characterized by its ability to consider collision avoidance in the framework of constrained optimization. For this reason, there have been many studies on collision avoidance using MPC, but few studies take into account the uncertainty that occurs in real environments. On the other hand, Chance constrained MPC (CCMPC) is considered to be more robust in collision avoidance due to the consideration of uncertainty. However, the structure of the collision probability constraint equation to be introduced into the evaluation function of MPC has not been sufficiently studied. In this study, the structure of equations for incorporating probability constraints into the evaluation function is examined. Moreover, by quantitatively comparing the equations with the same structure with deterministic constraints introduced into the evaluation function, the difference in collision avoidance is clarified.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125291759","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649799
Mojtaba Ahangar Arzati, S. Arzanpour
This paper presents an RL-based method to improve the performance of real-time 3D human pose estimation as a positioning feedback for DermDrone which is a micro sized quadrotor designed MetaOptima to capture high resolution full body images for dermatology application. The camera viewpoint is identified as the key parameter in the accuracy of monocular 3D human pose estimation. We present a deep reinforcement learning based method for determining the best viewpoint given the flight trajectory. Our goal is to present a reliable and accurate positioning feedback for DermDrone using a 3D human pose estimation algorithm. DQN and its variants (Double DQN, and Dueling DQN) were employed and their performances were investigated by conducting several simulations. The results confirm that RL-based viewpoint selection improve the performance of 3D human pose estimation.
{"title":"Viewpoint Selection for DermDrone using Deep Reinforcement Learning","authors":"Mojtaba Ahangar Arzati, S. Arzanpour","doi":"10.23919/ICCAS52745.2021.9649799","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649799","url":null,"abstract":"This paper presents an RL-based method to improve the performance of real-time 3D human pose estimation as a positioning feedback for DermDrone which is a micro sized quadrotor designed MetaOptima to capture high resolution full body images for dermatology application. The camera viewpoint is identified as the key parameter in the accuracy of monocular 3D human pose estimation. We present a deep reinforcement learning based method for determining the best viewpoint given the flight trajectory. Our goal is to present a reliable and accurate positioning feedback for DermDrone using a 3D human pose estimation algorithm. DQN and its variants (Double DQN, and Dueling DQN) were employed and their performances were investigated by conducting several simulations. The results confirm that RL-based viewpoint selection improve the performance of 3D human pose estimation.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122481102","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9650053
Tae Hoon Oh, Lorena F.S. Souza, J. M. Lee
The recent advance in measurement equipment, data transmission, and computational power enables digitalizing the process operation and constructing the digital twin. This implies that various existing model-based applications such as process monitoring, forecasting, decision support, and control can be applied to chemical processes with the most updated model in real-time. However, the systematic method of integrating the process data, model-based applications, database, and the user interface has not been well addressed. Therefore, this paper aims to fill this gap by proposing the workflow on applying the integrating framework called gPROMS Digital Application Platform that can receive and validate the process data, execute the various model-based applications, and visualizing the data and process results in a customized web-based user interface. For the case study, the integrating framework is constructed to optimize the SMR process in real-time. The gPROMS Process was used to construct the process model and the optimization problem was solved to find the optimal operating conditions that maximize the thermal efficiency of the reactor. The database stores the model inputs and outputs, and sends the signals to execute the model-based applications. Lastly, the web-based user interface was constructed to offer an environment to monitor the process status and execute the process optimization.
{"title":"Applying Digital Application Platform to Optimize Steam Methane Reforming Process","authors":"Tae Hoon Oh, Lorena F.S. Souza, J. M. Lee","doi":"10.23919/ICCAS52745.2021.9650053","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9650053","url":null,"abstract":"The recent advance in measurement equipment, data transmission, and computational power enables digitalizing the process operation and constructing the digital twin. This implies that various existing model-based applications such as process monitoring, forecasting, decision support, and control can be applied to chemical processes with the most updated model in real-time. However, the systematic method of integrating the process data, model-based applications, database, and the user interface has not been well addressed. Therefore, this paper aims to fill this gap by proposing the workflow on applying the integrating framework called gPROMS Digital Application Platform that can receive and validate the process data, execute the various model-based applications, and visualizing the data and process results in a customized web-based user interface. For the case study, the integrating framework is constructed to optimize the SMR process in real-time. The gPROMS Process was used to construct the process model and the optimization problem was solved to find the optimal operating conditions that maximize the thermal efficiency of the reactor. The database stores the model inputs and outputs, and sends the signals to execute the model-based applications. Lastly, the web-based user interface was constructed to offer an environment to monitor the process status and execute the process optimization.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131160483","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649910
Hsien-I Lin, S. Sanjaya
Nowadays, the demand for quality inspection of wood polishing is increasing. Thus, there is a need on industrial level to maintain high quality inspection. The quality inspection on wood polishing is currently done by human labors, which is inefficient, costly, and time-consuming. To reduce the cost of wood quality inspection, we propose an automated quality inspection based on AI vision to distinguish whether the wood is polished or unpolished. This system uses a deep learning method to classify polished or unpolished wood, which is one of the pioneer works using deep learning to examine wood quality. In this paper, we adopt the Efficient Net architecture because of its superior capability of handling the model parameters. The proposed approach combines Adam optimizer and SoftMax classifiers to provide the better performance of the model. This paper presents the binary classification on our dataset that contains 1,920 training and 560 test images. The result showed an average accuracy of 85%. In addition, the Efficient Net indicated the competitive performance metric of 85 % as recall, 85.5 % as precision, and 85 % as f1-score. In conclusion, the proposed architecture is satisfactory for automated quality inspection in the wood polishing process.
{"title":"Wood Polish Classification for Automated Quality Inspection based on AI Vision","authors":"Hsien-I Lin, S. Sanjaya","doi":"10.23919/ICCAS52745.2021.9649910","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649910","url":null,"abstract":"Nowadays, the demand for quality inspection of wood polishing is increasing. Thus, there is a need on industrial level to maintain high quality inspection. The quality inspection on wood polishing is currently done by human labors, which is inefficient, costly, and time-consuming. To reduce the cost of wood quality inspection, we propose an automated quality inspection based on AI vision to distinguish whether the wood is polished or unpolished. This system uses a deep learning method to classify polished or unpolished wood, which is one of the pioneer works using deep learning to examine wood quality. In this paper, we adopt the Efficient Net architecture because of its superior capability of handling the model parameters. The proposed approach combines Adam optimizer and SoftMax classifiers to provide the better performance of the model. This paper presents the binary classification on our dataset that contains 1,920 training and 560 test images. The result showed an average accuracy of 85%. In addition, the Efficient Net indicated the competitive performance metric of 85 % as recall, 85.5 % as precision, and 85 % as f1-score. In conclusion, the proposed architecture is satisfactory for automated quality inspection in the wood polishing process.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127602335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649766
Suhan Lee, Seungsub Oh
Indoor mobile robot location is the most important technology for service robots. Conventionally, there are various methods for estimating the robot trajectory to evaluate performance of robot localization. Since the operating environment and purpose of the robot are diverse, an appropriate method must be selected for the testing. In this paper, we present a study comparing the trajectory estimation methods of mobile robots using internal and external sensors to assist in estimating a suitable method for evaluation.
{"title":"A study on test method for evaluation of mobile robot trajectory estimation","authors":"Suhan Lee, Seungsub Oh","doi":"10.23919/ICCAS52745.2021.9649766","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649766","url":null,"abstract":"Indoor mobile robot location is the most important technology for service robots. Conventionally, there are various methods for estimating the robot trajectory to evaluate performance of robot localization. Since the operating environment and purpose of the robot are diverse, an appropriate method must be selected for the testing. In this paper, we present a study comparing the trajectory estimation methods of mobile robots using internal and external sensors to assist in estimating a suitable method for evaluation.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132675821","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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