Development and Implementation of Functions for Mobile Robot Navigation

Abstract

This paper describes implementation of functions for mobile robot localization, which is one of the vital technologies for autonomous navigation of a mobile robot. There are several function libraries for mobile robot navigation. Some of them have limited applicability for practical use since they can be used only for simulation. Our research focuses on development of functions which can be used for localization of indoor robots. The functions implement deadreckoning and motion model of mobile robots, measurement model of range sensors, and frequently used calculations on angular directions. The functions encompass various types of robots and sensors. Also, various types of uncertainties in robot motion and sensor measurements are implemented so that the user can select proper ones for their use. The functions are tested and verified through simulation and experiments. 키워드mobile robot, localization library, autonomous navigation, differential drive robot, bicycle robot model 이동 로봇, 위치 추정 라이브러리, 자율주행, 차륜 구동 로봇, 이륜차 로봇 모델 * 조선대학교

Analysis of multiple chronic disease characteristics in South Koreans by age groups using association rules analysis

“…14 Another study revealed that patients in their 60s have an average of three chronic diseases, and those in their 70s have an average of 3.5 chronic diseases. 45 Consequently, it is expected that the numbers of chronic diseases will continue to increase in seniors, and preventative measures are required. In particular, it is necessary to establish a long-term preventive strategy starting in young adulthood to address the long period to associated with the onset of chronic diseases.…”