Journal of IKEEE (전기전자학회논문지)

Institute of Korean Electrical and Electronics Engineers (한국전기전자학회)
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Implementation of autonomous driving algorithm and monitoring application for terrain navigation

지형 탐색 자율주행 알고리즘과 모니터링 애플리케이션 구현

  • Kang, Jongwon (Dept. of Aeronautics, Mechanical and Electronic Convergence Engineering, Kumoh National Institute of Technology) ;
  • Jeon, Il-Soo (Dept. of Aeronautics, Mechanical and Electronic Convergence Engineering, Kumoh National Institute of Technology) ;
  • Kim, Myung-Sik (Dept. of Aeronautics, Mechanical and Electronic Convergence Engineering, Kumoh National Institute of Technology) ;
  • Lim, Wansu (Dept. of Aeronautics, Mechanical and Electronic Convergence Engineering, Kumoh National Institute of Technology)
  • Received : 2021.08.30
  • Accepted : 2021.09.15
  • Published : 2021.09.30
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Abstract

In this paper, we propose an autonomous driving algorithm that allows a robot to explore various terrains, and implement an application that can monitor the robot's movement path during terrain search. The implemented application consists of a status unit that indicates the position, direction, speed, and motion of the mobile robot, a map unit that displays terrain information obtained through terrain search, and a control unit that controls the movement of the mobile robot. In order to control the movement of the robot, only the start and stop of the search/return is commanded by the application, and all driving for the search is performed autonomously. The basic algorithm for terrain search uses an infrared sensor to check for obstacles in the order of left, front, right, and rear, and if there is no obstacle and the path traveled is a dead end, it returns to the previous position and moves in the other direction to continue the search. Repeat the process to explore the terrain.

본 논문은 로봇이 다양한 지형 탐색이 가능한 자율 주행 알고리즘을 제안하고, 지형 탐색 중 로봇의 이동 경로를 모니터링 할 수 있는 애플리케이션을 구현한다. 구현한 애플리케이션은 이동 로봇의 위치, 방향, 속력, 동작을 나타내는 상태부와 지형 탐색을 통해 얻은 지형 정보를 나타내는 지도부, 이동 로봇의 동작을 제어하는 제어부로 구성된다. 로봇의 움직임 제어는 탐색/복귀의 시작과 정지만 애플리케이션으로 명령하고, 탐색을 위한 모든 주행은 자율로 하도록 하였다. 지형 탐색의 기본적인 알고리즘은 적외선 센서를 이용해 좌측, 전방, 우측, 후방 순으로 장애물을 확인하여 장애물이 없는 곳이 이동하고 이동한 경로가 막다른 길이면 이전 위치로 돌아와 다른 방향으로 이동하여 탐색을 계속하는 과정을 반복하여 지형을 탐색한다.

Keywords

Acknowledgement

This research was supported by Kumoh National Institute of Technology (2019104155)

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