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김기용,정학영 서울産業大學校 1995 논문집 Vol.41 No.1
This paper presents a methodology of path following for an AMR(Autonomous Mobile Robot). The given path is the optimal path between a pair of two nodes which is computed by a shortest path algorithm in a network. A fuzzy controller is designed to implement path-following of a physical AMR. The basic idea of navigation is to pass through the nodes on the path with curve, minimizing a deviation from the path. The proposed path-following has been implemented on an AMR. The results show that the robot successfully navigates to its destination following the optimal path.
정학영,김기용 서울産業大學校 1996 논문집 Vol.44 No.1
A grid model can be built with erroneous proximity sensors but the path planning methods based on this model cannot give solutions to all pairs of locations. In a network model, path planning methods for the network give an optimal path to every pair of nodes but building this model demands accurate information of an environment. In this paper, a method to build a network model using proximity sensors is presented. The main idea is to convert a grid model built by inaccurate sonar sensors to a network model for path planning. The new method has been implemented on an AMR. Experimental results show that the AMR constructs an accurate network model using inaccurate sonar data.