수학적 모델을 이용한 거리측정에 관한 연구

A Experimental Study on Measurement of Distance using Mathematical Model

The present study proposed a new technique to accurately measure distance using mathematical models in mobile robots. The models explain the variation of sensor voltages at the position of object in front of sensor. We develop the exponential function method and inverse proportional function method that estimate the distance by the measured sensor voltage. In order to test the validity of these two different methods, the experimental setup was introduce. Distance was estimated by the two methods suggested in the present study, and by the traditional method as well. The error was calculated by the difference between the real distance and the estimated distance. The standard deviation of error was ±9.4[cm] in the traditional method, and ±4.9[cm], ±1.5[cm], respectively, in the newly proposed method.