지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 지도교수
- 박찬식
- 발행연도
- 2017
- 저작권
- 충북대학교 논문은 저작권에 의해 보호받습니다.
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초록· 키워드
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The mobile robot obtains information about its surrounding environment using sensors. A remote operator can obtain and recognize its environment from the transmitted information. If a mobile robot collides with obstacles during performing a task, the given task may have been failed. Therefore, the remote operator should operate it not to collide with obstacles.
However, it may be difficult to prevent it from colliding with obstacles due to limited information, communication delay, immature operation of the operator, etc. For this reason, it is necessary to give the robot an autonomy for safety such as obstacle avoidance even if an operational input has been given toward obstacles.
The Expanded Guide Circle (hereinafter referred to as “EGC”) algorithm has been designed to increase the convenience and safety of an remote operation of mobile robots. Through this algorithm, the operational input transmitted by the operator has been slightly modified in order to avoid obstacles when the robot is approaching toward obstacles. The original EGC algorithm, however, has some drawback which is to be able to approach toward obstacles under the certain condition or to cause a zigzag motion when it is passing through the narrow path or hallway.
In this paper, we proposed the extended version of the original EGC algorithm in order to resolve these problems of the original one using the concept of Dual-Expanded Guide Circle (Dual-EGC).
However, it may be difficult to prevent it from colliding with obstacles due to limited information, communication delay, immature operation of the operator, etc. For this reason, it is necessary to give the robot an autonomy for safety such as obstacle avoidance even if an operational input has been given toward obstacles.
The Expanded Guide Circle (hereinafter referred to as “EGC”) algorithm has been designed to increase the convenience and safety of an remote operation of mobile robots. Through this algorithm, the operational input transmitted by the operator has been slightly modified in order to avoid obstacles when the robot is approaching toward obstacles. The original EGC algorithm, however, has some drawback which is to be able to approach toward obstacles under the certain condition or to cause a zigzag motion when it is passing through the narrow path or hallway.
In this paper, we proposed the extended version of the original EGC algorithm in order to resolve these problems of the original one using the concept of Dual-Expanded Guide Circle (Dual-EGC).
목차
Ⅰ. 서 론 11.1 연구 배경 11.2 연구 목적 및 제안 6Ⅱ. 원격 조작 시스템 72.1 원격 조작 시스템의 구성 72.2 이동로봇의 기구학 92.3 이동로봇의 원격 조작 명령 10Ⅲ. Expanded Guide Circle 알고리즘 123.1 Safety Index Circle(SIC) 정의 133.2 초기 가이드 서클(Initial Guide Circle) 정의 143.3 보조 가이드 서클(Auxiliary Guide Circle) 정의 173.4 확장 가이드 서클(Expanded Guide Circle) 정의 183.5 EGC 알고리즘을 통한 제어 입력 유도 및 보정 19Ⅳ. Dual-Expanded Guide Circle 알고리즘 224.1 확장 가이드 서클 알고리즘의 문제점 234.2 이중 보조 가이드 서클(Dual-Auxiliary Guide Circle) 정의 254.3 이중 확장 가이드 서클(Dual-Expanded Guide Circle) 정의 294.4 DEGC 알고리즘을 통한 최종 EGC 정의와 제어입력 유도 및 보정 32Ⅴ. 실험결과 39Ⅵ. 결 론 54참고문헌 56감사의 글 62
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