http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
자율주행 이동로봇의 목표 도달 시간을 개선하기 위한 TEB Local Planner 파라미터의 분석에 관한 연구
노형석,정의,한정민,전정현,전호남,Roh, Hyeong-Seok,Jung, Ui,Han, Jung-Min,Jeon, Jung-Hyeon,Jeon, Ho-Nam 한국산업융합학회 2022 한국산업융합학회 논문집 Vol.25 No.5
In this study, we analyzed the instantaneous trajectory generation capability and target arrival rate of a mobile robot by changing the parameter of the TEB (Timed Elastic Band) Local Planner among local planners that affect the instantaneous obstacle avoidance ability of the mobile robot using ROS (Robot Operating System) simulation and real experience. As a result, we can expect a decrease in the target arrival time of the mobile robot through a decrease in the parameter values of the TEB Local Planner's min_obstacle_dist, inflation_dist, and penalty_epsilon. However, if this parameter is reduced too much, the risk of obstacle collision of the moving robot is increases, so it is important to combine the appropriate values to construct the parameter.
자율주행로봇 플랫폼을 위한 ESP32 모듈 기반 인터페이스 보드 설계
전호남(Ho-Nam Jeon),이규영(Kyu-Young Lee),노형석(Hyeong-Seok Roh),김갑순(Gab-Soon Kim) 한국기계가공학회 2024 한국기계가공학회지 Vol.23 No.4
This paper explores the design and development of an interface board crafted for seamlessly integrating diverse electronic components and computers into autonomous mobile robots. The distinct communication protocols among these components often result in internal complexity when using a protocol converter. To address this issue, a communication interface board for the autonomous mobile robot platform was developed in this study, featuring the incorporation of the ESP32 module with built-in Wi-Fi functionality. This interface board comes equipped with communication conversion capabilities for various inputs, including analog, digital, SPI, RS485, and I2C communications. Additionally, a DC/DC converter circuit is configured to supply various direct current voltages, such as 5V and 3.3V. The designed interface board, based on the ESP32, underwent manufacturing, and communication experiments were executed with the central processing unit. The experimental results validate smooth data communication. These findings suggest that the designed interface board can be effectively applied to autonomous mobile robot systems.