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레이저 레이다를 이용한 무인차량의 지도생성 알고리즘 개발
이정엽(Jeong-Yeob Lee),이상훈(Sang-Hoon Lee),김정하(Jung-Ha Kim),한창수(Chang-Soo Han) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.12
To be high efficient for a navigation of unmanned ground vehicle, it must be able to distinguish between safe and hazardous regions in its immediate environment. We present an advanced method using laser range finder for building global 2D digital maps that include environment information. Laser range finder is used for mapping of obstacles and driving environment in the 2D laser plane. Rotary encoders are used for localization of UGV. The main contributions of this research are the development of an algorithm for global 2D map building and it will turn a UGV navigation based on map matching into a possibility. In this paper, a map building algorithm will be introduced and an assessment of algorithm reliability is judged at an each environment.
시스템 모델링 및 주행 시뮬레이션을 통한 인휠드라이브 타입 6WD/6WS 차량 플랫폼의 주행 거동 분석
이정엽(Jung-Yeob Lee),서승환(Seung-Whan Suh),손웅희(Woong-Hee Shon),유승남(Seung-Nam Yu),한창수(Chang-Soo Han) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.4
A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle"s driving and wheel"s rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally
기전 시스템의 구동 모터 선정 방법과 견마로봇용 지뢰탐지 구동 장치에의 적용
최창환,정승호,김석환,이정엽,최덕선,정상철,박용운,Choi, Chang-Hwan,Jung, Seung-Ho,Kim, Seok-Hwan,Lee, Jeong-Yeob,Choe, Tok-Son,Chung, Sang-Chul,Park, Yong-Woon 한국군사과학기술학회 2007 한국군사과학기술학회지 Vol.10 No.4
This paper presents a motor selection technique for a manipulator design that is used in a multipurpose dog-horse robot. Since the dynamics of a manipulator and its servo drives are closely related to each other, it requires a repetitive analysis to determine a suitable motor. In order to simplify this procedure, Straete et al. proposed a simple normalization method to separate the load dependent terms and the motor dependent terms. This technique is adopted in this paper for selecting a motor in designing a manipulator.