전기전자학회논문지 (Journal of IKEEE)

  • 제24권1호
  • /
  • Pages.275-283
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  • 2020
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  • 1226-7244(pISSN)
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  • 2288-243X(eISSN)
한국전기전자학회 (Institute of Korean Electrical and Electronics Engineers)
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저가형 적외선 거리 센서를 이용한 선도-추종 로봇시스템에서 선도로봇의 위치인식

Positioning of a Leader Robot in a Leader-Follower Robot Using Low-Cost Infrared(IR) Distance Sensors

  • Sanjaakhand, Battuya (Major in Robotics and Intelligent control System, Korea Polytechnic University) ;
  • Jang, Moon-Suk (Dept. of Mechatronics Engineering, Korea Polytechnic University) ;
  • Cha, Dong-Hyuk (Dept. of Mechatronics Engineering, Korea Polytechnic University)
  • 투고 : 2020.03.07
  • 심사 : 2020.03.25
  • 발행 : 2020.03.31
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초록

본 연구에서는 저가형 소형 이동로봇을 이용한 선도-추종 로봇시스템을 개발하였다. 개발한 이동로봇은 시중에서 쉽게 구할 수 있는 저렴한 부품을 사용하여 학교나 실험실 등에서 쉽고 빠르게 제작할 수 있는 장점이 있다. 그리고 이 로봇에 장착된, 7개의 저가형 적외선 거리 센서로 구성된 센서 어레이의 위치인식 특성을 분석하고, 이를 기반으로 선도로봇의 위치인식 알고리즘을 제안하였다. 개발한 선도-추종 로봇을 이용한 정지 및 주행 실험을 통해 제안된 알고리즘의 타당성을 검증하였다.

A leader-follower robot system using low cost small mobile robots has been developed. Sine the developed mobile robot is made of widely used low cost parts, it can be built easily and fastly. Characteristics of the developed sensor array composed of seven low-cost infrared(IR) distance sensors has been investigated, and a positioning algorithm of the reader robot is proposed. Through a series of experiments, it has been verified that the proposed algorithm can detect the position of the reader robot well.

키워드

참고문헌

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