대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

역전파 알고리즘을 이용한 자율주행로봇의 장애물 회피계획 설계

Design of Obstacle Avoidance Plan of Autonomous Mobile Robot Using Backpropagation

  • 박경석 (조선대학교 제어계측공학과) ;
  • 김영수 (조선대학교 제어계측공학과) ;
  • 이경웅 (조선대학교 제어계측공학과) ;
  • 최한수 (조선대학교 정보제어계측공학부)
  • Park, Kyung-Seok (Dept. of Control and Instrumentation Eng. Chosun Univ.) ;
  • Kim, Young-Su (Dept. of Control and Instrumentation Eng. Chosun Univ.) ;
  • Yi, Kyung-Woong (Dept. of Control and Instrumentation Eng. Chosun Univ.) ;
  • Choi, Han-Soo (School of Information, Control and Instrumentation Eng. Chosun Univ.)
  • 발행 : 2003.07.21
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초록

The part of manipulators is normally studied with regularized environmental conditions. however, it is the most difficult that the part of AMR must be studied with uncertainty in the environmental conditions. The part of AMR has skelton, sensor fusion, path planning etc. This paper is the research of the local pass planning that gathers information about external environment using neural network from each sensors and designs the algorithm which can determine which correct direction the robot can find. As the result of the research, AMR has been able to drive similarly as if the expert does and has been able to observe it acting without any control.

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