비용함수와 서브 골을 이용한 비선형 최적화 방법 기반의 이동로봇 장애물 회피 주행

다국어 초록 (Multilingual Abstract)

We define the mobile robot navigation problem as an optimization problem to minimize the cost function with the pose error between the goal position and the position of a mobile robot. Using Gauss-Newton method for the optimization, the optimal speeds of the left and right wheels can be found as the solution of the optimization problem. Especially, the rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot using the Jacobian derived from the kinematic model. When the robot detects the obstacle using sensors, the sub-goal switching method is adopted for the efficient obstacle avoidance during the navigation. The performance was evaluated using the simulation and the simulation results show the validity of the proposed method.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 비선형 최소자승법을 이용한 이동로봇의 주행
• 3. 시뮬레이션 결과 및 성능 비교
• 4. 결론
• References

참고문헌 (Reference)

1 김곤우, "수정된 비용함수를 이용한 비선형 최적화 방법 기반의 이동로봇의 장애물 회피 비주얼 서보잉" 대한전기학회 58 (58): 2498-2504, 2009

2 김곤우, "비선형 최적화 방법을 이용한 이동로봇의 주행" 대한전기학회 60 (60): 1404-1409, 2011

3 김곤우, "비선형 최송 자승법을 이용한 이동 로봇의 비주얼 서보 네비게이션" 한국로봇학회 2 (2): 327-333, 2007

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