USN과 초음파 센서를 이용한 이동 로봇의 원격 감시 및 주행시스템

In this paper we use wireless sensor network and ultrasonic sensors to estimate local position of mobile robots, and using the information of position, mobile robot can navigate autonomically. To solve a problem of inaccuracy we rotate ultra sonic sensor which is attached to robot in 360 degrees and obtain accurate distance. We use USB web-camera to obtain real-time images of environment. Using this information, we can monitoring places remotely. Results of Experiments show proposed method obtains accurate distance between sensors and coordinates of position of robot.