Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 한창수 | - |
dc.date.accessioned | 2021-01-26T01:37:38Z | - |
dc.date.available | 2021-01-26T01:37:38Z | - |
dc.date.issued | 2002-08 | - |
dc.identifier.citation | 한국정밀공학회지, v. 19, no. 8, page. 147-154 | en_US |
dc.identifier.issn | 1225-9071 | - |
dc.identifier.issn | 2287-8769 | - |
dc.identifier.uri | http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00853790 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/157492 | - |
dc.description.abstract | In this paper, a path navigation algorithm through use of a sensor platform is proposed. The sensor platform is composed of two electric motors which make panning and tilting motions. An algorithm for computing a real path and an obstacle length is developed by using a scanning method that controls rotation of the sensors on the platform. An Autonomous Robot Vehicle (ARV) can perceive the given path by adapting this algorithm. A sensor scanning method is applied to the sensor platform for using small numbers of sensor. The path navigation algorithm is composed of two parts. One is to perceive a path pattern ; the other is used to avoid an obstacle. An optimal controller is designed for tracking the reference path which is generated by perceiving the path pattern. The ARV is operated using the optimal controller and the path navigation algorithm. Based on the results of actual experiments, this algorithm for an ARV proved sufficient for path navigation by small number of sensors and for a low cost controller by using the sensor platform with a scanning method. | en_US |
dc.description.sponsorship | 이 논문은 2001년 한양대학교 교내연구비 지원으로 연구되었습니다. | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 한국정밀공학회 | en_US |
dc.subject | ARV (Autonomous Robot Vehicle) | en_US |
dc.subject | Sensor platform | en_US |
dc.subject | Ultra-sonic sensor | en_US |
dc.subject | Path navigation | en_US |
dc.subject | Optimal control | en_US |
dc.subject | Sensor scanning | en_US |
dc.subject | Kinematic model | en_US |
dc.subject | Panning motion | en_US |
dc.subject | 자율주행로봇 | en_US |
dc.subject | 센서 플랫폼 | en_US |
dc.subject | 초음파 센서 | en_US |
dc.subject | 경로주행 | en_US |
dc.subject | 최적 제어 | en_US |
dc.subject | 센서 스캐닝 | en_US |
dc.subject | 기구학 모델 | en_US |
dc.subject | 좌우 방향의 회전 | en_US |
dc.title | 센서 스캐닝에 의한 자율주행로봇의 경로주행 알고리즘 | en_US |
dc.title.alternative | A Path Navigation Algorithm for an Autonomous Robot Vehicle by Sensor Scanning | en_US |
dc.type | Article | en_US |
dc.relation.journal | 한국정밀공학회지 | - |
dc.contributor.googleauthor | 박동진 | - |
dc.contributor.googleauthor | 안정우 | - |
dc.contributor.googleauthor | 한창수 | - |
dc.relation.code | 2012101691 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DEPARTMENT OF ROBOT ENGINEERING | - |
dc.identifier.pid | cshan | - |
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