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
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Vol.38 No.2
- 발행연도
- 2021.2
- 수록면
- 103 - 113 (11page)
- DOI
- 10.7736/JKSPE.020.038
이용수
초록· 키워드
오류제보하기
In the navigation of mobile robots, the driving risk can be minimized by increasing the probability of success. The algorithm, which is currently commonly known as the shortest path algorithm, performs efficiently, but does not exhibit a good probability of success for achieving the final goal. In this paper, we develop a new reactive navigation algorithm, known as the goal guidance vector (G2V), which can minimize the driving risk within the sensing range. The G2V is designed to improve the performance of the reactive navigation algorithm using a hazard cost function (HCF) that accounts for the scale and locations of the obstacles within the sensing range. We also adopt real-time fuzzy reactive control to determine the weighting factors of the HCF in an unknown environment to determine the optimal G2V. Simulations are conducted to validate the use of this approach for various environments.
목차
1. Introduction
2. G2V Algorithm
3. Reactive Fuzzy Control of the Weighting Factor in the HCF
4. Perfrmance Analysis based on Simulation
5. Conclusion
REFERENCES
참고문헌 (43)
참고문헌 신청
Khatib, O., “Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,” Autonomous Robot Vehicles, Vol. 5, pp. 396-404, 1986.
Borenstein, J. and Koren, Y., “Real-Time Obstacle Avoidance for Fast Mobile Robots,” IEEE Transactions on Systems, Man, and Cybernetics, Vol. 19, No. 5, pp. 1179-1187, 1989.
Borenstein, J. and Koren, Y., “The Vector Field Histogram-Fast Obstacle Avoidance for Mobile Robots,” IEEE Transactions on Robotics and Automation, Vol. 7, No. 3, pp. 278-288, 1991.
Simmons, R., “The Curvature-Velocity Method for Local Obstacle Avoidance,” Proc. of the IEEE International Conference on Robotics and Automation, pp. 3375-3382, 1996.
Fox, D., Burgard, W., and Thrun, S., “The Dynamic Window Approach to Collision Avoidance,” IEEE Robotics & Automation Magazine, Vol. 4, No. 1, pp. 23-33, 1997.
Borenstein, J. and Koren, Y., “Real-Time Obstacle Avoidance for Fast Mobile Robots,” IEEE Transactions on Systems, Man, and Cybernetics, Vol. 19, No. 5, pp. 1179-1187, 1989.
Borenstein, J. and Koren, Y., “The Vector Field Histogram-Fast Obstacle Avoidance for Mobile Robots,” IEEE Transactions on Robotics and Automation, Vol. 7, No. 3, pp. 278-288, 1991.
Simmons, R., “The Curvature-Velocity Method for Local Obstacle Avoidance,” Proc. of the IEEE International Conference on Robotics and Automation, pp. 3375-3382, 1996.
Fox, D., Burgard, W., and Thrun, S., “The Dynamic Window Approach to Collision Avoidance,” IEEE Robotics & Automation Magazine, Vol. 4, No. 1, pp. 23-33, 1997.
함께 읽어보면 좋을 논문
논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!
-
무효전력 경제급전을 고려한 345㎸ 송전계통의 기준 전압 설정 방법
전기학회논문지
2018 .05
-
Mobile Robot Navigation using Optimized Fuzzy Controller by Genetic Algorithm
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2015 .03
-
Real-time Adaptive Obstacle Avoidance Algorithm for Small Robots
대한임베디드공학회논문지
2018 .01
-
Fuzzy-based Navigation of Mobile Robots in Unknown Environments with Moving Obstacles
한국지능시스템학회 학술발표 논문집
2015 .04
-
Part 1: 조류해석에 있어서 무효전력 제어 모선의 동작 알고리즘에 관한 연구
전기학회논문지
2022 .02
-
산업 공정 환경 로봇의 효율적인 대상물 처리를 위한 작업 분배 알고리즘 연구 및 실험
대한전자공학회 학술대회
2019 .06
-
GA-Fuzzy based Navigation of Multiple Mobile Robots in Unknown Dynamic Environments
전기학회논문지
2017 .01
-
Collision Avoidance Algorithm of Mobile Robots at Grid Map Intersection Point
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2020 .06
-
Fuzzy-based Path Planning for Multiple Mobile Robots in Unknown Dynamic Environment
Journal of Electrical Engineering & Technology
2017 .03
-
A* 알고리즘 기반 모바일로봇 경로제어
제어로봇시스템학회 국내학술대회 논문집
2020 .07
-
Real-time Navigation for Multiple Mobile Robots in Dynamic Environments based on Fuzzy Logic
제어로봇시스템학회 국제학술대회 논문집
2016 .10
-
이동로봇의 경로계획 알고리즘에 대한 연구
제어로봇시스템학회 국내학술대회 논문집
2015 .05
-
A Novel Offline Coverage Path Planning Algorithm for A Tethered Robot
제어로봇시스템학회 국제학술대회 논문집
2017 .10
-
군집 로봇의 충돌 회피를 고려한 순차적 경로계획
제어로봇시스템학회 논문지
2023 .03
-
뉴럴 포텐셜 필드 알고리즘을 이용한 이동 로봇의 지역 경로계획
전기학회논문지
2015 .10
-
이동로봇의 최적경로와 실시간 경로에 대한 연구
제어로봇시스템학회 국내학술대회 논문집
2015 .05
-
Learning to Avoid Obstacles by Fast-Adapting Parameters to New Environment
한국정보과학회 학술발표논문집
2021 .06
-
무효전력 흐름 추적을 이용한 무효전력 취약지역 판단
전기학회논문지
2015 .08
-
Collision-free Navigation of a Mobile Robot in Dynamic Environments using Optimized Fuzzy Approach
한국지능시스템학회 학술발표 논문집
2016 .04
-
상수 속력 Guidance Vector Field를 이용한 바퀴 달린 로봇을 위한 Path Following 제어
대한전기학회 학술대회 논문집
2022 .07
이 논문의 저자 정보
이 논문과 함께 이용한 논문
최근 본 자료
댓글(0)
0