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
- 한국지능시스템학회 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS Vol.13 No.2
- 발행연도
- 2013.6
- 수록면
- 140 - 146 (7page)
이용수
초록· 키워드
오류제보하기
In this paper, we describe a vision sensor-based driving algorithm for indoor automatic guided vehicles (AGVs) that facilitates a path tracking task using two mono cameras for navigation. One camera is mounted on vehicle to observe the environment and to detect markers in front of the vehicle. The other camera is attached so the view is perpendicular to the floor, which compensates for the distance between the wheels and markers. The angle and distance from the center of the two wheels to the center of marker are also obtained using these two cameras. We propose five movement patterns for AGVs to guarantee smooth performance during path tracking: starting, moving straight, pre-turning, left/right turning, and stopping. This driving algorithm based on two vision sensors gives greater flexibility to AGVs, including easy layout change, autonomy, and even economy. The algorithm was validated in an experiment using a two-wheeled mobile robot.
목차
Abstract
1. Introduction
2. AGV Platform Configuration
3. Marker Recognition Algorithm
4. Driving Algorithm for Tracking the Desired Path
5. Experimental Results
6. Conclusion
References
참고문헌 (19)
참고문헌 신청
이용준 / 2011 / 상대위치인식과 자계안내를 이용한 무인주행차량의 주행기법 / 한국지능시스템학회 논문지 21(4):430~435
G. Alenya / 2005 / Using laser and vision to locate a robot in an industrial environment: a practical experience / in Proceedings of the 2005 IEEE International Conference on Robotics and Automation :3528~3533
이민채 / 2013 / 영상 및 레이저레이더 정보융합을 통한 자율주행자동차의 주행환경인식 및 추적방법 / 한국지능시스템학회 논문지 23(1):35~45
G. N. Desouza / 2002 / Vision for mobile robot navigation : a survey / IEEE Transactions on Pattern Analysis and Machine Intelligence 24(2):237~267
S. Badal / 1994 / A practical obstacle detection and avoidance system / in Proceedings of the 2nd IEEE Workshop on Applications of Computer Vision :97~104
G. Alenya / 2005 / Using laser and vision to locate a robot in an industrial environment: a practical experience / in Proceedings of the 2005 IEEE International Conference on Robotics and Automation :3528~3533
이민채 / 2013 / 영상 및 레이저레이더 정보융합을 통한 자율주행자동차의 주행환경인식 및 추적방법 / 한국지능시스템학회 논문지 23(1):35~45
G. N. Desouza / 2002 / Vision for mobile robot navigation : a survey / IEEE Transactions on Pattern Analysis and Machine Intelligence 24(2):237~267
S. Badal / 1994 / A practical obstacle detection and avoidance system / in Proceedings of the 2nd IEEE Workshop on Applications of Computer Vision :97~104
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UCI(KEPA) : I410-ECN-0101-2014-020-002880621