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
- 2023.9
- 수록면
- 717 - 725 (9page)
- DOI
- 10.5302/J.ICROS.2023.23.0083
이용수
DBpia Top 10%동일한 주제분류 기준으로최근 2년간 이용수 순으로 정렬했을 때
해당 논문이 위치하는 상위 비율을 의미합니다.
초록· 키워드
오류제보하기
We developed a methodology to achieve position estimation, path planning and control for autonomous docking systems of autonomous mobile robots (AMRs). For autonomous docking, the relative position between the AMR and the docking station must be accurately estimated. The relative position determined using a camera and lidar sensors is inaccurate, and the position update rate is insufficient. To solve this problem, we propose a Kalman filter that uses an inertial measurement unit and information from a wheel encoder sensor in combination. The position estimated by the Kalman filter has a smaller root mean square error and variance than those obtained from the camera and lidar sensors, and the position is updated every 25 ms. The control system for path planning and docking was implemented in the Robot Operating System, and the algorithm was verified through Gazebo simulation. Finally, the developed algorithm was verified in real environments. The experimental results yielded a position error of less than 1 cm and an angle error of less than 1°.
목차
Abstract
Ⅰ. 서론
Ⅱ. 도킹제어 알고리즘 개요 및 시스템 구성
Ⅲ. 도킹스테이션 상대위치 추정 알고리즘
Ⅳ. 경로생성 및 제어 알고리즘
Ⅴ. 시뮬레이션 및 시각화
Ⅵ. 도킹제어 결과
Ⅶ. 결론
REFERENCES
참고문헌 (13)
참고문헌 신청
A. Sharma, "53,000 Warehouses & Factories Will Have Deployed AMRs & AGVs By End Of 2025," Interact Analysis, Magazine, 2021.
X. Zhang, X. Li, and X. Zhang, “Automatic docking and charging of mobile robot based on laser measurement," 2021 IEEE 5th Advanced Information Technology, Electronic and Automation Control Conference (IAEAC), Chongqing, China, pp. 2229-2234, 2021. doi: 10
Y. Zhu, Q. Meng, H. Yu, H. Wang, J. Hu, P. Li, and B. Hu “Wheelchair automatic docking method for body-separated nursing bed based on grid map," IEEE Access, vol. 9, pp. 79549-79561, 2021. doi: 10.1109/ACCESS.2021.3084620.
M. Doumbia, X. Cheng, and V. Havyarimana, “An autorecharging system design and implementation based on infrared signal for autonomous robots," 2019 5th International Conference on Control, Automation and Robotics (ICCAR), Beijing, China, 2019, pp. 894-900
F. Guangrui and W. Geng, “Vision-based autonomous docking and re-charging system for mobile robot in warehouse environment," 2017 2nd International Conference on Robotics and Automation Engineering (ICRAE), Shanghai, China, pp. 79-83, 2017. doi: 10.1109/I
X. Zhang, X. Li, and X. Zhang, “Automatic docking and charging of mobile robot based on laser measurement," 2021 IEEE 5th Advanced Information Technology, Electronic and Automation Control Conference (IAEAC), Chongqing, China, pp. 2229-2234, 2021. doi: 10
Y. Zhu, Q. Meng, H. Yu, H. Wang, J. Hu, P. Li, and B. Hu “Wheelchair automatic docking method for body-separated nursing bed based on grid map," IEEE Access, vol. 9, pp. 79549-79561, 2021. doi: 10.1109/ACCESS.2021.3084620.
M. Doumbia, X. Cheng, and V. Havyarimana, “An autorecharging system design and implementation based on infrared signal for autonomous robots," 2019 5th International Conference on Control, Automation and Robotics (ICCAR), Beijing, China, 2019, pp. 894-900
F. Guangrui and W. Geng, “Vision-based autonomous docking and re-charging system for mobile robot in warehouse environment," 2017 2nd International Conference on Robotics and Automation Engineering (ICRAE), Shanghai, China, pp. 79-83, 2017. doi: 10.1109/I
이 논문의 저자 정보
이 논문과 함께 이용한 논문
오픈소스 및 AMR을 이용한 GNSS 기반의 자율주행 시스템
강효련
,
정성엽
한국산학기술학회 논문지
2024
.04
카테시안 공간에서 로봇팔의 시간지연 제어 방식에 대한 연구
정슬
,
김선태
,
이재영
외 1명
제어로봇시스템학회 국내학술대회 논문집
2024
.07
2SD 타입 모바일 로봇을 위한 실시간 궤적제어 알고리즘 설계
양석호
,
이인원
,
임종범
외 1명
제어로봇시스템학회 국내학술대회 논문집
2024
.07
Robust Control Algorithm Research for Position Control of Industrial Robot Manipulators
김정호
,
함자칸
,
김재형
외 2명
제어로봇시스템학회 국내학술대회 논문집
2024
.07
로봇팔 장착 위성의 자세 제어 알고리즘
김관연
,
원대희
,
이영우
외 1명
한국항공우주학회 학술발표회 초록집
2024
.04
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0102-2023-003-002024310