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하희권,이영진,윤영진,허남,이만형,Ha, H.K.,Lee, Y.J.,Yoon, Y.J.,Huh, N.,Lee, M.H. 한국항해항만학회 1999 韓國港灣學會誌 Vol.13 No.2
To improve the productivity in the harbor, successful development of an UCT(Unmanned Container Transporter) is needed. Well-designed steering and velocity control systems are the key factor for the development of the UCT. In this paper, a research concerning the achievement of the steering control is introduced. To get an information on the guide line that the UCT should track, the vision system is applied. By using neural network, proper steering angle is gotten fast with less influence of the image disturbance. A simulation based on the UCT kinematics is performed with the measured steering angle, and it shows satisfactory results.