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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
- 신수용
- 발행연도
- 2022
- 저작권
- 금오공과대학교 논문은 저작권에 의해 보호받습니다.
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이 논문의 연구 히스토리 (2)
- 이 논문의 후속연구가 궁금하신가요?
- 연관 학술논문 또는 학술발표를 통해 보다 발전된 연구결과를 확인하실 수 있습니다.
- 이 논문의 연구 히스토리 확인하기
초록· 키워드
오류제보하기
본 연구에서는 경로 알고리즘인 RRT(Rapidly-exploring Random Tree)와 A*를 기반으로 한 UAV(Unmanned Aerial Vehicle)의 실내 탐색을 구현하였 다. 제안된 시스템은 UAV로 Bebop 2가 사용되었으며, on-board로 Xavier NX, 주변 환경 감지를 위한 Rplidar S1으로 구성되어 있다. RRT와 A*는 각 각 Frontier 탐색과 UAV의 Trajectory 생성을 위한 것으로 사용되었다. RRT 는 Local 탐색과 Global 탐색 두 가지로 구분되고 A*는 필터를 통해 선택된 Frontier에 이동하기 위한 Trajectory로 UAV에 전달된다. UAV가 이동하면서 지도를 업데이트하고 동시에 Bebop 2의 카메라를 활용한 YOLO(You Only Look Once) v4로 객체를 인식하도록 한다. 시스템은 세 가지 환경에 대해서 실험하였으며,완성된지도와 전송된객체정보를통해서 그성능을 평가한다.
목차
제 1 장 서 론··································································································11.1 연구 배경 및필요성·······················································································11.2 논문의목표및 구성·······················································································3제 2 장 관련 연구··························································································42.1 경로 계획 관련 연구·······················································································42.2 탐사 전략 관련 연구·······················································································72.3 객체 인식에관한연구···················································································9제 3 장 본 론································································································103.1 시스템개요 ···································································································103.2 경로 계획,탐색시스템및객체인식······················································123.2.1 경로계획·································································································123.2.2 탐색전략·································································································133.2.3 객체인식·································································································173.3 시스템알고리즘 ···························································································183.4 ROS구조 ·······································································································19제 4 장 실 험································································································204.1 실험 장비 및실험환경···············································································204.1.1 실험장비·································································································204.1.2 실험환경·································································································214.2 실험 결과·········································································································22제 5 장 결 론································································································27[참고 문헌]·······································································································28
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