수산해양기술연구 (Journal of the Korean Society of Fisheries and Ocean Technology)

  • 제39권1호
  • /
  • Pages.77-83
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  • 2003
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  • 2671-9940(pISSN)
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  • 2671-9924(eISSN)
한국수산해양기술학회 (The Korean Society of Fisheries and Ocean Technology)
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동적 환경에서 뉴로-퍼지를 이용한 웹 기반 자율 잠수 이동로봇 제어기 설계

Design of a Web-based Autonomous Under-water Mobile Robot Controller Using Neuro-Fuzzy in the Dynamic Environment

  • 발행 : 2003.02.01
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초록

Autonomous mobile robots based on the Web have been already used in public places such as museums. There are many kinds of problems to be solved because of the limitation of Web and the dynamically changing environment. We present a methodology for intelligent mobile robot that demonstrates a certain degree of autonomy in navigation applications. In this paper, we focus on a mobile robot navigator equipped with neuro-fuzzy controller which perceives the environment, make decisions, and take actions. The neuro-fuzzy controller equipped with collision avoidance behavior and target trace behavior enables the mobile robot to navigate in dynamic environment from the start location to goal location. Most telerobotics system workable on the Web have used standard Internet techniques such as HTTP, CGI and Scripting languages. However, for mobile robot navigations, these tools have significant limitations. In our study, C# and ASP.NET are used for both the client and the server side programs because of their interactivity and quick responsibility. Two kinds of simulations are performed to verify our proposed method. Our approach is verified through computer simulations of collision avoidance and target trace.

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참고문헌

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