Seong-Hoon Peter Won

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This paper presents an autonomous docking system with novel integrated algorithms for mobile self-reconfigurable robots equipped with inexpensive sensors. A novel docking algorithm was developed to determine the initial distance and orientation of the two modules, and sensor models were established through experiments. Both Extended Kalman filter (EKF) and(More)
In this paper we develop two filters, extended Kalman filter (EKF) and particle filter (PF), for autonomous docking of mobile robots and compare the performances of the two filers in terms of accuracy. Robots are equipped with IR emitters/receivers and encoders, and their data is used to estimate the distance and orientation of robots, which is needed for(More)
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