earticle

논문검색

연구논문

Graphical System Design을 이용한 장애물 회피 알고리즘 검증 및 Rapid Control Prototyping 플랫폼 개발

원문정보

Development of a Rapid Control Prototype Platform for Obstacle Avoidance Algorithm Evaluation Using a Graphic System Design

박찬희, 김성진, 김철생, 양균의

피인용수 : 0(자료제공 : 네이버학술정보)

초록

영어

This paper presents efficient guidelines that allow unmanned ground vehicles (UGVs) to avoid obstacles and interpret sensor data, which were executed by an embedded real-time processor for rapid control prototyping (RCP) model using a graphic system design (GSD) programming language. The obstacle avoidance algorithm uses data from laser sensors in order to enable the UGV to make decisions on how to navigate around its environment. Our research control algorithm was implemented on a real-time system, and data were transferred from a real-time processor to a robot. The robot successfully moved towards its goal by pre-making way-points and avoiding arbitrary obstacles by following the newly made way-points using this algorithm. By integrating commercially-available, off-the-shelf hardware and by using GSD program, we greatly improved the repeatability of developing an autonomous robot that drives and plans its own path.

목차

Abstract
 1. 서론
 2. 연구 배경 및 시스템 구축
 3. 실험결과
 4. 결론
 참고문헌

저자정보

  • 박찬희 Park, Chan Hee. (사)전북대학교 자동차부품·금형기술혁신센터 연구개발실 선임연구원
  • 김성진 Kim, Sung Jin. (사)전북대학교 자동차부품·금형기술혁신센터 연구개발실 선임연구원
  • 김철생 Kim, Chul Sang. 전북대학교 기계설계공학부 교수
  • 양균의 Yang, Gyun Eui. 전북대학교 기계공학과 교수

참고문헌

자료제공 : 네이버학술정보

    함께 이용한 논문

      ※ 기관로그인 시 무료 이용이 가능합니다.

      • 4,900원

      0개의 논문이 장바구니에 담겼습니다.