한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제12권2호
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- Pages.145-153
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- 1995
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
피지제어를 이용한 이동로보트의 주행법에 관한 연구
A Study on Navigation Strategy of a Mobile Robot with Fuzzy Control
- 정재훈 (영남대학교 전기공학과) ;
- 홍동기 (영남대학교 전기공학과) ;
- 윤태혁 (영남대학교 전기공학과) ;
- 김종무박만식이석규 (영남대학교 전기공학과영남대학교 전기공학과영남대학교 전기공학과)
- Jung, Jae-Hun ;
- Hong, Dong-Ki ;
- Yun, Tae-Hyuk ;
- Kim, Jong-MuPark, Man-SikLee, Suck-Gyu
- 발행 : 1995.02.01
초록
This paper proposes a fuzzy algorithm for determining navigation path of an autonomous mobile robot in uncertain environment. The proposed fuzzy algorithm includes three type (MIN-TIME, ECONOMY, SAFETY) motion modes for the robot to get the ability to meet the ambiguous situation which the robot encounters. Ech ode is applied to both static and dynamic environmental situation. This paper concludes by showing the efficiency of the proposed method through some computer simulation results.
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