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Development of a New Navigation Technology for Mobile Robot Based on Sonar Sensors
노연판쿠에트,한성현,Nguyen, Van-Quyet,Han, Sung-Hyun The Korean Society of Manufacturing Technology Eng 2009 한국공작기계학회지 Vol.18 No.6
This paper presents the theoretical development of a complete navigation problem of a non-holonomic mobile robot by using sonar sensors. To solve this problem, a new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constraints of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. Different experiments in populated environments have proved to be very successful. Our method is able to guide the mobile robot named KUM-Robo safety and efficiently during long experimental time.
Development of a New Navigation Technology for Mobile Robot Based on Sonar Sensors
Van-Quyet Nguyen(노연판쿠에트),Sung-Hyun Han(한성현) 한국생산제조학회 2009 한국생산제조학회지 Vol.18 No.6
This paper presents the theoretical development of a complete navigation problem of a non-holonomic mobile robot by using sonar sensors. To solve this problem, a new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constraints of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. Different experiments in populated environments have proved to be very successful. Our method is able to guide the mobile robot named KUM-Robo safety and efficiently during long experimental time.