경로 추적 방식의 AGV를 위한 경로 계획

도주철; 김정민; 정경훈; 우승범; 김성신

추천

검색

질문

자료유형: 학술저널

저자정보: 도주철 (부산대학교) 김정민 (부산대학교) 정경훈 (부산대학교) 우승범 (부산대학교) 김성신 (부산대학교)

저널정보: 한국로봇학회(논문지) 로봇학회 논문지 로봇공학회 논문지 제5권 제4호

발행연도: 2010.12

수록면: 332 - 338 (7page)

이용수

📌

연구주제

📖

연구배경

🔬

연구방법

🏆

연구결과

초록· 키워드

오류제보하기

This paper presents a study of path-planning method for AGV(automated guided vehicle) based on path-tracking. It is important to find an optimized path among the AGV techniques. This is due to the fact that the AGV is conditioned to follow the predetermined path. Consequently, the path-planning method is implemented directly affects the whole AGV operation in terms of its performance efficiency. In many existing methods are used optimization algorithms to find optimized path. However, such methods are often prone with problems in handling the issue of inefficiency that exists in system’s operation due to inherent undue time delay created by heavy load of complex computation. To solve such problems, we offer path-planning method using modified binary tree. For the purpose of our experiment, we initially designed a AGV that is equiped with laser navigation, two encoders, a gyro sensor that is meant to be operated within actual environment with given set of constrictions and layout for the AGV testing. The result of our study reflects the fact that within such environments, the proposed method showed improvement in its efficiency in finding optimized path.

#AGV #path tracking #path planning #binary tree #depth first search

참고문헌 (14)

참고문헌 신청

1. [학술지(정기간행물)] - I.A.Vis / 2006 / Survey of Research in the Design and Control of Automated Guided Vehicle Systems / European Journal of Operational Research 170 (3) : 677 ~ 709

2. [학술지(정기간행물)] - T.Le-Anh / 2006 / A review of design and control of automated guided vehicle system / Eur J Oper Res 171 : 1 ~ 23

3. [학술지(정기간행물)] - R. M. Iñigo / 1991 / Algorithms for path planning, navigation and guidance of an AGV / Robotics and Autonomous Systems 7 (4) : 309 ~ 326

5. [학술대회논문] - E. Shi / 2007 / Experiment Study of Multi-Step Predictive Control in AGV Path Tracking / Automation and logistics conference : 531 ~ 535

7. [학술대회논문] - S Khanmohammadi / 2010 / Multi AGV hybrid path planning using fuzzy inference systems / 2010 The 2nd International Conference on Computer and Automation Engineering : 789 ~ 792

함께 읽어보면 좋을 논문

논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!