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
- 발행연도
- 2010.3
- 수록면
- 233 - 238 (6page)
이용수
초록· 키워드
오류제보하기
This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.
목차
Abstract
Ⅰ. INTRODUCTION
Ⅱ. AUTONOMOUS MULTI-MOBILE ROBOT SYSTEM
Ⅲ. SIMULATION BASED EXPERIMENT RESULTS
Ⅳ. CONCLUSIONS
REFERENCES
참고문헌 (6)
참고문헌 신청
1. [학술지(정기간행물)] - G. E. Jan / 2008 / Optimal Path Planning for Mobile Robot navigation / IEEE/ASME Trans. on Mechatronics 13 (4) : 451 ~ 460
2. [학술지(정기간행물)] - M. Y. Chow / 2009 / Guest Editorial: Introduction to the Focused Section on Mechatronics in Multirobot Systems / IEEE/ASME Trans. on Mechatronics 14 (2) : 133 ~ 140
3. [단행본] - R. C. Arkin / 1998 / Behavior Based Robotics / MIT press
4. [학술지(정기간행물)] - T. C. Hu / 1993 / Optimal Robust Path Planning in General environments / IEEE Trans. on Robotics and Automation 9 (6) : 775 ~ 784
5. [학술지(정기간행물)] - Y. K. Hwang / 1992 / A Potential Field Approach to Path Planning / IEEE Trans. on Robotics and Automation 8 (1) : 23 ~ 32
2. [학술지(정기간행물)] - M. Y. Chow / 2009 / Guest Editorial: Introduction to the Focused Section on Mechatronics in Multirobot Systems / IEEE/ASME Trans. on Mechatronics 14 (2) : 133 ~ 140
3. [단행본] - R. C. Arkin / 1998 / Behavior Based Robotics / MIT press
4. [학술지(정기간행물)] - T. C. Hu / 1993 / Optimal Robust Path Planning in General environments / IEEE Trans. on Robotics and Automation 9 (6) : 775 ~ 784
5. [학술지(정기간행물)] - Y. K. Hwang / 1992 / A Potential Field Approach to Path Planning / IEEE Trans. on Robotics and Automation 8 (1) : 23 ~ 32
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UCI(KEPA) : I410-ECN-0101-2013-569-003310400