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저정밀도 센서를 이용한 SLAM 기능의 구현 방법 타당성 연구
유지원(J. W. Yu),박정현(J. H. Park),최경호(K. H. Choi),이대엽(D. Lee) 유공압건설기계학회 2022 유공압건설기계학회 학술대회논문집 Vol.2022 No.06
With the growth of the logistics industry, the decrease in skilled manpower, and the increase in labor costs, unmanned and automated logistic equipments are becoming increasingly important. Therefore, the demand for unmanned equipment for unloading and loading pallet cargo in automatic warehouses is also increasing, but it is reported that existing unmanned equipment is expensive and takes time to set up in the initial stage. In order to generate the path and find a location of unmanned equipment using low-cost sensors with low positioning accuracy, the generation of optimal movement path at high speed is import and necessary. In this feasibility study, a low-cost 3D lidar is to be used to measure the position around the equipment, and for the three-wheel drive method, which is widely applied in pallet trucks and reach trucks, the motion equation and the low-accuracy sensor will be used to optimize the motion equation. This work is carried out to generate a driving route at high speed and perform location control of the equipment based on it. An analytic study was conducted for this purpose, and based on the results of this study, an unmanned pallet truck study will be conducted by applying it to actual equipment in the next stage of this work.