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오성남,이검수,김갑일,강환일 明知大學校 産業技術硏究所 2009 産業技術硏究所論文集 Vol.28 No.-
In this paper, we describes a study on autonomic flight of UAV(Unmanned Aerial Vehicle) that is equipped with GPS(Global Positioning System). This research have used a quarter vehicle that has the form of rotary-wing aircraft. The quarter vehicle is unstable because it flies by lift forces from 4 propellers and turning repelling power. UAV flight control system applied inertia sensors to keep stable position and balance of the vehicle. GPS supplies correct position data that decides position, speed and direction of aircraft. With the help of GPS, the autonomic flight can be successful. Also, small size magneto-resistive sensors(MRS) improves the direction information of GPS. In this paper we propose a GPS application method and autonomic flight algorithm for coordinate calculation.
1:N 무선 통신 기반의 이동로봇 위치 추종에 관한 연구
이검수,오성남,김갑일,강환일 明知大學校 産業技術硏究所 2009 産業技術硏究所論文集 Vol.28 No.-
In this paper, we research about Multi.agent control mobile robots using the GPS and Bluetooth modules. In this system, we used the sign board model whieh transmits the information to unspecified robots. And also for Multi-Agent system, we made three mobile robots and used GPS and Bluetooth modules for robot's coordinate awareness and search direction. All mobile robots are installed with GPS and Bluetooth modules, receive Master-mobile’s robot position coordinates from GPS and then transfer to all mobile robots located within the communication possibility area of the Bluetooth module. Each Slave-mobile robots receive the position coordinate from Master -mobile robot and calculate distance and direction between eaeh robot. We implement the transfer algorithm of Multi-agent robots, manufacture mobile robots for Multi-agent control and propose the method of 1:N real time communication. Finally , we calculate the distance between the positions of each robot using the GPS data.