• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2010년도 춘계학술대회 논문집
• /
• pp.875-876
• /
• 2010

• Journal of Advanced Marine Engineering and Technology
• /
• 제38권10호
• /
• pp.1287-1296
• /
• 2014

This paper is about control of Automated Guided Vehicle for path following using fuzzy logic controller. The Automated Guided Vehicle is a tricycle wheeled mobile robot with three wheels, two fixed passive wheels and one steering driving wheel. First, kinematic and dynamic modeling for Automated Guided Vehicle is presented. Second, a controller that integrates two control loops, kinematic control loop and dynamic control loop, is designed for Automated Guided Vehicle to follow an unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on two PID controllers are proposed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.

• 전기학회논문지
• /
• 제63권1호
• /
• pp.115-122
• /
• 2014

Mobile robot has been studied for long time due to its simple structure and easy modeling. Regarding path planning of the mobile robot, we suggest real-time hybrid path planning algorithm which is the combination of optimal path planning and real-time path planning in this paper. Real-time hybrid path planning algorithm modifies, finds best route, and saves calculating time. It firstly plan the route with real-time path planning then robot starts to move according to the planned route. While robot is moving, update the route as the best outcome which found by optimal path planning algorithm. Verifying the performance of the proposed method through the comparing real-time hybrid path planning with optimal path planning will be done.

• 한국컴퓨터산업학회논문지
• /
• 제5권9호
• /
• pp.993-1004
• /
• 2004

본 논문에서는 구동토크의 제약을 갖는 4륜 2자유도 구륜이동로봇의 기구학 및 동력학 모델링과 경로추적을 다룬다. 유도된 기구학 모델을 이용하여 구륜이퐁로봇의 가제어성을 조사한다. 순간일치좌표계와 힘/토크의 전파, 뉴튼의 평형법칙을 이용하여 동려학 모델을 유도한다. 역동력학에 의해 산출된 구동토크가 한계 구동토크를 초과할 경우, time-scaling 기법을 이용하여 기준제적을 수정함으로써 구륜이동로봇이 기준경로를 추적하도록 한다. 제어기는 모델링 불확실성과 측정 잡음 등으로 인하여 발생하는 오차를 보상하도록 설계한다. 또한 본 논문에서 제시된 기법의 유효성을 입증하기 위해 모의실험을 수행하고 그 결과를 제시한다.

• 한국강구조학회 논문집
• /
• 제13권6호
• /
• pp.661-672
• /
• 2001

본 연구는 Arc-length method를 이용한 복합재료 공간 구조물의 대변형 거동의 관찰에 관한 것이다. 비선형 평형경로의 각각의 하중단계에서 자동적으로 Arc-length 크기를 변화시켜 하중-변위 관계곡선을 추적할 수 있도록 하였다. 복합재료 공간 트러스의 점탄성 해석은 quasi-elastic 방법을 사용해 탄성해를 구하였다. Micro Mechanical Materials Modeling 방법을 사용하여 탄성계수를 결정하였고 하중조합에 따른 비선형 하중-변위 곡선을 추적하였다. 본 연구의 효과를 검증하기 위하여 그물형 공간 트러스를 다른 방법의 결과들과 비교하였다.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
• /
• pp.29-32
• /
• 2002

In this paper the wheeled mobile robot is studied. The kinematic and dynamic modeling of the robot is presented via LPD(Linear Parameter Dependent) framework. A path-planning algorithm which is optimized in the sense of robot mobility and distance is presented. And by using PI controller we show that the presented algorithm and model is work very well in the computer simulation and experiment.

• Journal of Positioning, Navigation, and Timing
• /
• 제8권4호
• /
• pp.193-200
• /
• 2019

The auto-encoder network which is a good candidate to handle the modeling of the signal strength attenuation is designed for denoising and compensating the distortion of the received data. It provides a non-linear mapping function by iteratively learning the encoder and the decoder. The encoder is the non-linear mapping function, and the decoder demands accurate data reconstruction from the representation generated by the encoder. In addition, the adaptive network width which supports the automatic generation of new hidden nodes and pruning of inconsequential nodes is also implemented in the proposed algorithm for increasing the efficiency of the algorithm. Simulation results show that the proposed method can improve the neural network training surface to achieve the highest possible accuracy of the signal modeling compared with the conventional modeling method.

• 한국군사과학기술학회지
• /
• 제13권2호
• /
• pp.171-179
• /
• 2010

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1193-1196
• /
• 1996

Genetic algorithm(GA) is useful to find optimal solution without any special mathematical modeling. This study presents to search optimal path of Autonomous Mobile Robot(AMR) by using GA without encoding and decoding procedure. Therefore, this paper shows that the proposed algorithm using GA can reduce the computation time to search the optimal path.

• 경영과학
• /
• 제11권1호
• /
• pp.59-72
• /
• 1994

In this paper we examine potentials of a spreadsheet program, one of the most widly available software system, as a mathematical optimization modeling tool. For an illustrative example, a shortest path problem is modeled on Lotus-123 for practical use and an implementational framework and a general guide to the spreadsheet modeling of network analysis is provided.