대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1991년도 하계학술대회 논문집
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- Pages.888-891
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- 1991
신경회로망을 이용한 반사적인 무인차 제어
Reflexive Autonomous Vehicle Control Using Neural Networks
- Kim, Yoo-Seok (Automation and Systems Research Institute & Dep. Of Control and Instrumentation Eng., Seoul Nat'l Univ.) ;
- Lee, Jang-Gyu (Automation and Systems Research Institute & Dep. Of Control and Instrumentation Eng., Seoul Nat'l Univ.)
- 발행 : 1991.07.18
초록
In this paper, we have shown a new approach of neural networks for mobile robot motion control under an indoor refracted environment. The vehicle has two powered wheels and four passive casters which support a free motion. And it also uses sonar sensors, infrared sensors, Internal odometer, and contact sensors. Two experiments were conducted to demonstrate our objectives. The first one is that the vehicle executes a reflexive motor control to maintain a constant distance to the boundary. The second one is that as well as the boundary following, the vehicle makes a block obstacle avoidance during its path. Without prior knowledge of external environment. we have accomplished the tasks by employing a simple, reactive stimulus-response neural network scheme associating sensor data with the vehicle's action.
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