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- 저자 : 이필복(Li biFu) (검색결과 1 건)
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주행 오차 보정을 통한 장애물 극복 신경망 제어기 설계
임신택(Shin-Teak Lim),이필복(Li biFu),정길도(Kil-Do Chong) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5
In this research, an obstacle avoidance method is proposed. The common usage of a robot is indoor and the obstacles to the indoor robot is studied. The accurate detection of direction after overcoming the obstacles is necessary for performance of autonomous navigation and mission project. The sensors such as Laser, Ultrasound, PSD can be used to measure the obstacles. In this research, a PSD sensor is used to detect obstacles. It detects the height and width of obstacles located on the floor. Before measuring the obstacles, a calibration of the sensor was done and it produced a better accuracy. We have plotted an error graph using data obtained from the repeated experiments. The graph is fitted to a polynomial curve. The polynomial equation is used for the robot navigation. And in this research, a model of the error of the direction of the robot after overcoming obstacles was obtained also. The prototype of the obstacle and the error of the direction after overcoming the obstacles are modelled using a neural networks. The input of the neural network composed with the height of the obstacles, the speed of robot, the direction of wheels and the error of the direction. To implement the suggested algorithm, we set up a robot which is operated by a notebook computer. Experiment showed the suggested algorithm performed well.
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