The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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Mecha-numwheel RC Car for Overcoming Obstacles Based on Bluetooth

블루투스 기반의 장애물 극복용 메카넘휠 RC 카

  • 차세찬 (남서울대학교 전자공학과) ;
  • 임동현 (남서울대학교 전자공학과) ;
  • 이상휘 (남서울대학교 전자공학과) ;
  • 이웅재 (남서울대학교 전자공학과) ;
  • 한영오 (남서울대학교 전자공학과)
  • Received : 2023.10.26
  • Accepted : 2024.02.17
  • Published : 2024.02.29
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Abstract

In this paper, a novel mechanism for overcoming obstacles is studied by designing an All-Directional RC car for obstacle traversal and creating test courses with various obstacles. We propose an algorithm for controlling the RDS3115 servo motor and utilize a gyro sensor to detect the incline of various obstacle terrains, adjusting the servo motor's angle to enable the RC car to navigate the terrain. Through terrain experiments in the test course, we determined the most suitable RC car turning angles for traversing all obstacle terrains created in the experimental terrain.

본 논문에는 장애물들을 극복할 수 있는 새로운 메커니즘을 연구하기 위해 장애물 극복 전 방향(ALL-Direction) 주행 RC 카를 제작하여 여러 가지 장애물이 있는 시험장을 제작해 주행평가를 진행한다. RDS3115 서보모터를 제어하는 알고리즘을 제안하고, 자이로센서를 활용하여 여러 장애물 지형의 기울기를 인식하고 RC 카가 지형을 넘을 수 있는 서보모터의 각도를 조절한다. 시험장 지형 실험에서 제작한 모든 장애물 지형들을 주행하는 데 있어서 가장 적합한 RC 카의 회전 각도를 확인하였다.

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References

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