지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2014.6
- 수록면
- 104 - 110 (7page)
이용수
초록· 키워드
오류제보하기
Mapping is a fundamental element for robotic services. There are available many types of map data representation such as grid map, metric map, topology map, etc. As more robots are deployed for services, more chances of exchanging map data among the robots emerge and standardization of map data representation (MDR) becomes more valuable. Currently, activities in developing MDR standard are underway in IEEE Robotics and Automation Society. The MDR standard is for a common representation and encoding of the two-dimensional map data used for navigation by mobile robots. The standard focuses on interchange of map data among components and systems, particularly those that may be supplied by different vendors. This paper aims to introduce MDR standard and its application to map merging. We have applied the basic structure of the MDR standard to a grid map and Voronoi graph as a kind of topology map and performed map merging between two different maps. Simulation results show that the proposed MDR is suitable for map data exchange among robots.
목차
Abstract
1. 서론
2. 표준화된 지도 데이터 표현방법
3. 맵 데이터 생성
4. Map merging
5. 결론
References
참고문헌 (20)
참고문헌 신청
1. [학술지(정기간행물)] - A. Elfes / 1989 / Using Occupancy Grids for Mobile Robot Perception and Navigation / IEEE Computer 22 (6) : 46 ~ 57
2. [학술대회논문] - D. V. Zwynsvoorde / 2001 / Incremental topological modeling using local voronoilike graphs / Proc. of IEEE/RSJ Int. Con. On Intelligent Robots and Systems 2 : 897 ~ 902
3. [학술지(정기간행물)] - H. Choset / 2000 / Sensor-based exploration: the hierarchical generalized voronoi graph / Int.Journal of Robotics Research 19 (2) : 96 ~ 125
4. [단행본] - D. F. D’souza / 1998 / Objects, Components, and Frameworks with UML: The Catalysis Approach / Addison-Wesley Professional
5. [학술지(정기간행물)] - A. Birk / 2006 / Merging Occupancy Grid Maps From Multiple Robots / Proceedings of the IEEE 94 (7) : 1384 ~ 1397
2. [학술대회논문] - D. V. Zwynsvoorde / 2001 / Incremental topological modeling using local voronoilike graphs / Proc. of IEEE/RSJ Int. Con. On Intelligent Robots and Systems 2 : 897 ~ 902
3. [학술지(정기간행물)] - H. Choset / 2000 / Sensor-based exploration: the hierarchical generalized voronoi graph / Int.Journal of Robotics Research 19 (2) : 96 ~ 125
4. [단행본] - D. F. D’souza / 1998 / Objects, Components, and Frameworks with UML: The Catalysis Approach / Addison-Wesley Professional
5. [학술지(정기간행물)] - A. Birk / 2006 / Merging Occupancy Grid Maps From Multiple Robots / Proceedings of the IEEE 94 (7) : 1384 ~ 1397
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UCI(KEPA) : I410-ECN-0101-2020-559-001258320