DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김은희 | - |
dc.contributor.author | 오준호 | - |
dc.date.accessioned | 2013-03-15T21:29:07Z | - |
dc.date.available | 2013-03-15T21:29:07Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1997-05 | - |
dc.identifier.citation | 한국정밀공학회 1997년 학술발표대회, v., no., pp.25 - 29 | - |
dc.identifier.uri | http://hdl.handle.net/10203/124077 | - |
dc.description.abstract | In this thesis, we construct the microrobot succor system and navigate the real-time path planning and visual tracking of each robot. The system consists robots, vision system and a host computer. Because the robots are free-ranging mobile robot, it is needed to make and gallow the path. The path is planned and controlled by a host computer, ie. Supervisory control system. In path planning, we suggest a cost function which consists of three terms. One is the smoothness of the path, another is the total distance or time, and the last one is to avoid obstacles. To minimize the cost function, we choose the parametric cubic spline and update the coefficients in real time. We perform the simulation for the path planing and obstacle avoidance and real experiment for visual tracking | - |
dc.language | KOR | - |
dc.publisher | 한국정밀공학회 | - |
dc.title | 소형 이동로봇의 실시간 경로계획과 영상정보에 의한 추적제어 | - |
dc.title.alternative | A Study on real- time path planning and visual tracking of the micro mobile robot | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 25 | - |
dc.citation.endingpage | 29 | - |
dc.citation.publicationname | 한국정밀공학회 1997년 학술발표대회 | - |
dc.identifier.conferencecountry | South Korea | - |
dc.identifier.conferencecountry | South Korea | - |
dc.contributor.localauthor | 오준호 | - |
dc.contributor.nonIdAuthor | 김은희 | - |
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