The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Autonomous Feeding Robot and its Ultrasonic Obstacle Classification System

자동 사료 급이 로봇과 초음파 장애물 분류 시스템

  • Kim, Seung-Gi (Korea Orthopedics & Rehabilitation Engineering Center) ;
  • Lee, Yong-Chan (School of EE, Kyungpook National University) ;
  • Ahn, Sung-Su (Daegu Mechatronics & Materials Institute) ;
  • Lee, Yun-Jung (School of Electronics Engineering, Kyungpook National University)
  • Received : 2018.05.01
  • Accepted : 2018.07.19
  • Published : 2018.08.01
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Abstract

In this paper, we propose an autonomous feeding robot and its obstacle classification system using ultrasonic sensors to secure the driving safety of the robot and efficient feeding operation. The developed feeding robot is verified by operation experiments in a cattle shed. In the proposed classification algorithm, not only the maximum amplitude of the ultrasonic echo signal but also two gradients of the signal and the variation of amplitude are considered as the feature parameters for object classification. The experimental results show the efficiency of the proposed classification method based on the Support Vector Machine, which is able to classify objects or obstacles such as a human, a cow, a fence and a wall.

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References

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