GPS와 초음파센서를 이용한 사용자 추정 이동로봇 시스템

This paper presents that a mobile robot equipped with a magnetic sensor, a GPS(Global Positioning System), and ultrasonic sensors follows a user by calling from a user through Bluetooth communication. The position information from GPS includes errors caused from various causes. In the proposed user following system, we propose that a mobile robot is able to detect the position and its direction of a user by a set of ultrasonic sensors on the user following system. If the user calls the mobile robot, the mobile robot promptly searches and follows the user. This study shows that the proposed user following system is useful even the composition of inexpensive hardware and simple algorithm. Extensive simulation presents to illustrate the viability and effectiveness of the proposed user following mobile robot system.