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http://dx.doi.org/10.7471/ikeee.2021.25.3.437

Implementation of autonomous driving algorithm and monitoring application for terrain navigation  

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)
Publication Information
Journal of IKEEE / v.25, no.3, 2021 , pp. 437-444 More about this Journal
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.
Keywords
Android application; mobile robot; infrared sensor; terrain search; autonomous driving;
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