단일 초음파 센서를 이용한 주행 지도 작성에 관한 연구

This study proposes the method to make a map of moving environment area and passed area by sensor using for recognizing environment or avoiding obstacle. We will develop an efficient algorithm to use sensors and get the data by the user friendly system. Through this system, we will study the way to know of the driving environment of moving robot on the long distance point. To this, we use only one ultra-sonic sensor with a servo motor which rotates 180 degree and loads an ultra-sonic sensor. A sensor can measure 1m~8m range and a servo motor can distinguish 15 degree by 12 divide of 180 degree. By this feature of operating system, the robot which has these sensor module detects around of area and moves another point. In this way, users gather the data of detecting distance and change the data to X-Y coordinates. And users derive a map from these accumulate data