1. 제 목 : Intelligent navigation technology for indoor mobile robots

2. 연 사 : 정완균 교수 (포항공과대학교 기계공학과)

3. 일 시 : 2010년 4월 2일 (금) 16:30-17:30

4. 장 소 : 301동 105호

5. 연사약력 :
1977.03-1981.02 서울대학교공과대학기계설계학과, 학사
1981.03-1983.02 한국과학기술원기계공학과, 석사
1983.03-1987.02 한국과학기술원생산공학과, 박사
1987.04 - 현재 포항공대 기계공학과 교수
2008.11 - 현재 포항공대 기계공학과 주임교수
한국로봇학회 부회장
IEEE Transactions on Robotics, Editor

6. 내용요약 :
Intelligent navigation technology is essential if a mobile robot is to execute its assigned tasks, for example, delivery, cleaning and guidance, in real indoor environment. Intelligent navigation consists of localization, mapping and path planning. For the localization of the mobile robot, a map representing the environment is required to estimate the pose of the robot, and the localization is also a prerequisite for the mapping of environment. As a solution for this chicken and egg problem, SLAM (simultaneous localization and mapping) has been developed in mobile robotics community. This presentation will introduce efficient and robust methods for the intelligent navigation developed in our laboratory. Various algorithms - VR (vision/range sensor)-SLAM, Unscented FastSLAM, Gaussian Mixture particle filtering SLAM, robust sampling strategy for RBPF-SLAM in non-static environment, and region based topological modeling/localization - will be presented. Conflict evaluated maximum approximated likelihood approach for grid mapping and navigable voronoi diagram methods for global and local path planning will be also
introduced.

7. 문 의 : 기계항공공학부 방현우 교수 (☏ 880-1722)