이동 로봇의 위치 추정을 위한 함수 라이브러리 개발

Abstract

ABSTRACT Development of Function Library for Mobile Robot Localization Jeong, Seok Ki Advisor : Prof. Ko, Nak Yong, Ph. D. Dept. of Control and Instrumentation Eng., Graduate School of Chosun University This paper describes development of function library for mobile robot localization. Robot navigation libraries are developed based on various theories and can be applied to simulation and implementation of robot navigation. Many of the libraries are complicated to analyze, understand, and use. Also, some of them lack explanation about development background of theory. Moreover some libraries can not be used practically because they support only simulation. The library developed in our research is for mobile robot localization. This paper explains in detail the functions developed. The explanation includes input variables and output variables for use. Also, it describes the theoretical background of the functions. For easy application, procedures for function call is included. The functions are tested and verified through simulation and experiments.