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RISS 인기검색어
- 검색키워드
- 저자 : 조연 ( Ran Zhao ) (검색결과 6 건)
- 무료
- 기관 내 무료
- 유료
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GA-Fuzzy based Navigation of Multiple Mobile Robots in Unknown Dynamic Environments
조연,이홍규,Zhao, Ran,Lee, Hong-Kyu The Korean Institute of Electrical Engineers 2017 전기학회논문지 Vol.66 No.1
The work present in this paper deals with a navigation problem for multiple mobile robots in unknown indoor environments. The environments are completely unknown to the robots; thus, proximity sensors installed on the robots' bodies must be used to detect information about the surroundings. The environments simulated in this work are dynamic ones which contain not only static but also moving obstacles. In order to guide the robot to move along a collision-free path and reach the goal, this paper presented a navigation method based on fuzzy approach. Then genetic algorithms were applied to optimize the membership functions and rules of the fuzzy controller. The simulation results verified that the proposed method effectively addresses the mobile robot navigation problem.
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Intelligent Navigation Algorithm for Mobile Robots based on Optimized Fuzzy Logic
조연,이홍규,Zhao, Ran,Lee, Hong-Kyu Institute of Korean Electrical and Electronics Eng 2018 전기전자학회논문지 Vol.22 No.2
본 논문은 미지 유동환경에서 다중 이동로봇들의 주행문제에 대한 연구결과이다. 여기에서 환경은 로봇에게는 알려져 있지 않기 때문에 로봇의 몸체에 부착된 근접센서들을 이용하여 주변환경들을 감지하여야 하고, 로봇이 충돌 없이 경로를 추적하여 목표지점에 도착하도록 기본 방책들을 조합한 지능주행 방법을 제안하였다. 이러한 대부분 기법들은 퍼지논리 제어기들을 이용하여 구현하였으며, 모든 로봇에 동일하게 적용하였다. 퍼지 제어기의 성능을 향상시키기 위해서 유전 알고리즘을 이용하여 퍼지 제어기의 membership function과 rules set를 진화시켰다. 모의실험 결과 제안한 방법이 주행문제에 긍정적인 결과가 있음이 증명되었다. The work presented in this paper deals with a navigation problem for a multiple mobile robots in unknown dynamic environments. The environments are completely unknown to the robots; thus, proximity sensors installed on the robots' bodies must be used to detect information about the surroundings. In order to guide the robots along collision-free paths to reach their goal positions, a navigation method based on a combination of primary strategies has been developed. Most of these strategies are achieved by means of fuzzy logic controllers, and are uniformly applied in every robot. In order to improve the performance of the proposed fuzzy logic, the genetic algorithms were used to evolve the membership functions and rules set of the fuzzy controller. The simulation experiments verified that the proposed method effectively addresses the navigation problem.
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Intelligent Navigation Algorithm for Mobile Robots based on Optimized Fuzzy Logic
Ran Zhao(조연),Hong-Kyu Lee(이홍규) 한국전기전자학회 2018 전기전자학회논문지 Vol.22 No.2
본 논문은 미지 유동환경에서 다중 이동로봇들의 주행문제에 대한 연구결과이다. 여기에서 환경은 로봇에게는 알려져 있지 않기 때문에 로봇의 몸체에 부착된 근접센서들을 이용하여 주변환경들을 감지하여야 하고, 로봇이 충돌 없이 경로를 추적하여 목표지점에 도착하도록 기본 방책들을 조합한 지능주행 방법을 제안하였다. 이러한 대부분 기법들은 퍼지논리 제어기들을 이용하여 구현하였으며, 모든 로봇에 동일하게 적용하였다. 퍼지 제어기의 성능을 향상시키기 위해서 유전 알고리즘을 이용하여 퍼지 제어기의 membership function과 rules set를 진화시켰다. 모의실험 결과 제안한 방법이 주행문제에 긍정적인 결과가 있음이 증명되었다. The work presented in this paper deals with a navigation problem for a multiple mobile robots in unknown dynamic environments. The environments are completely unknown to the robots; thus, proximity sensors installed on the robots’ bodies must be used to detect information about the surroundings. In order to guide the robots along collision-free paths to reach their goal positions, a navigation method based on a combination of primary strategies has been developed. Most of these strategies are achieved by means of fuzzy logic controllers, and are uniformly applied in every robot. In order to improve the performance of the proposed fuzzy logic, the genetic algorithms were used to evolve the membership functions and rules set of the fuzzy controller. The simulation experiments verified that the proposed method effectively addresses the navigation problem.
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GA-Fuzzy based Navigation of Multiple Mobile Robots in Unknown Dynamic Environments
Ran Zhao(조연),Hong-Kyu Lee(이홍규) 대한전기학회 2017 전기학회논문지 Vol.66 No.2
The work present in this paper deals with a navigation problem for multiple mobile robots in unknown indoor environments. The environments are completely unknown to the robots; thus, proximity sensors installed on the robots’ bodies must be used to detect information about the surroundings. The environments simulated in this work are dynamic ones which contain not only static but also moving obstacles. In order to guide the robot to move along a collision-free path and reach the goal, this paper presented a navigation method based on fuzzy approach. Then genetic algorithms were applied to optimize the membership functions and rules of the fuzzy controller. The simulation results verified that the proposed method effectively addresses the mobile robot navigation problem.
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Intelligent Navigation for Multiple Mobile Robots with Dynamic Obstacles
Ran Zhao(조연),Hong-Kyu Lee(이홍규) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.9
This paper addresses a navigation problem for multiple mobile robots in unknown dynamic environments. The environments are completely unknown to the robots and the surrounding environments should be detected by the proximity sensors installed on the robots’ bodies. To guide the robot’s movement along collision-free paths and reach the goal positions, an intelligent navigation method based on the combination of primary strategies has been developed. The indoor environments usually contain convex and concave obstacles. In this work, a danger judgment strategy in accordance with the sensor data is used to avoid small convex obstacles or other robots. Furthermore, a wall-following strategy is designed to address the special situations involving large convex or concave obstacles. Finally, when there is no collision risk, the robots will be guided toward the corresponding targets according to a target positioning strategy. All these strategies are achieved using fuzzy logic controllers, and are uniformly applied to each robot. The simulation verified that the proposed method has encouraging effectiveness for solving the navigation problem.
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