• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.299-302
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• 2009

이 논문에서는 라인 트레이스 차량의 주행 제어를 위한 퍼지 제어기를 설계하였다. 라인을 감지하는 센서들의 감지 상태에 따라 센서값을 산출하고 이 센서값은 조향각 제어 퍼지 규칙의 입력으로 사용되어 조향각을 제어값으로 산출한다. 또한 산출된 조향각은 다시 모터속력 제어 퍼지 규칙의 입력으로 사용되어 주행 속도 결정을 위한 모터속력을 제어값으로 산출하게 된다. 제안한 퍼지 제어 기법을 이용하여 조향각만을 제어한 경우와 조향각과 모터속력을 함께 제어한 경우를 각각 실험한 결과, 모터속력을 함께 제어한 경우가 트랙을 이탈하지 않으면서 더욱 빠르게 주행함으로써 제안한 기법에 효과적임을 보였다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.11
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• pp.2289-2294
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• 2009

In this paper, we proposed a fuzzy controller for racing of a line trace vehicle. Sensor values are computed by statuses of line detecting sensors attached to the line trace vehicle and these sensor values are used for fuzzy inference rules of steering angle control to decide steering angle as output. The decided steering angle is also used for fuzzy inference rules of motor speed control to decide motor speed as output. We experimented and analyzed two proposed methods - one is fuzzy control of steering angle only and the other is fuzzy control of both steering angle and motor speed. In the experiment, we verified that the second proposed method was more efficient in racing speed.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.05a
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• pp.731-733
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• 2016

The primary goal of the line tracer is to accurately and quickly detect the movement up to the target position given by the sensor juhaengseon. It has been used in applications in various fields such as the current unmanned transport vehicles, laser cutting machine, autonomous mobile robots and unmanned driving is possible, and is held annually at various universities in the competition field with the possibility of great progress, depending on the application. However, there arises a large difference in running performance, depending on the hardware design and control. In this paper, improving the characteristics of the tracer line and characters to design a PID controller is to apply the point on ways of improving the properties of the system.