This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and...
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https://www.riss.kr/link?id=A108248829
2022
English
KCI등재
학술저널
521-531(11쪽)
0
0
상세조회0
다운로드다국어 초록 (Multilingual Abstract)
This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and...
This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.
참고문헌 (Reference)
1 정금준 ; 김동호 ; 김희진 ; 장기원 ; 한성현, "스마트팩토리 실현을 위한 뉴럴네트워크 기반 이중 아암을 갖는 제조용 로봇의 지능제어에 관한 연구" 한국산업융합학회 24 (24): 351-361, 2021
2 김희진 ; 김상현 ; 장기원 ; 김두범 ; 동근한 ; 한성현, "스마트 팩토리를 위한 로봇 모니터링 시스템 시뮬레이터 개발에 관한 연구" 한국산업융합학회 22 (22): 561-573, 2019
3 V. C. Lee, "Tracking control of mobile robots using backstepping technique" 1715-1719,
4 C. de Wit Canudas, "Theory of Robot Control" Springei-Verlag 1996
5 R. M. Murrax, "Stabilization and tracking for nonholonomic control systems using time-varxing state feedback" 109-114, 1992
6 W. Oelen, "Robust tracking control of two-degree-freedom mobile robots" 2 : 333-340, 1994
7 R. M. Murray, "Nonholonomic motion planning : steering using sinusoids" 38 (38): 700-716, 1993
8 P Fiorini, "Motion planning in dynamic environments using velocity obstacles" 17 (17): 760-772, 1998
9 R. T. M 'Closk e y, "Exponential stabilization of nonlinear driftless control systems via time-varying homogeneous feedback" 1317-1322, 1994
10 R. T. N’Closkey, "Exponential stabilization of drift less control systems using homogeneous ieedback" 42 (42): 614-628, 1997
1 정금준 ; 김동호 ; 김희진 ; 장기원 ; 한성현, "스마트팩토리 실현을 위한 뉴럴네트워크 기반 이중 아암을 갖는 제조용 로봇의 지능제어에 관한 연구" 한국산업융합학회 24 (24): 351-361, 2021
2 김희진 ; 김상현 ; 장기원 ; 김두범 ; 동근한 ; 한성현, "스마트 팩토리를 위한 로봇 모니터링 시스템 시뮬레이터 개발에 관한 연구" 한국산업융합학회 22 (22): 561-573, 2019
3 V. C. Lee, "Tracking control of mobile robots using backstepping technique" 1715-1719,
4 C. de Wit Canudas, "Theory of Robot Control" Springei-Verlag 1996
5 R. M. Murrax, "Stabilization and tracking for nonholonomic control systems using time-varxing state feedback" 109-114, 1992
6 W. Oelen, "Robust tracking control of two-degree-freedom mobile robots" 2 : 333-340, 1994
7 R. M. Murray, "Nonholonomic motion planning : steering using sinusoids" 38 (38): 700-716, 1993
8 P Fiorini, "Motion planning in dynamic environments using velocity obstacles" 17 (17): 760-772, 1998
9 R. T. M 'Closk e y, "Exponential stabilization of nonlinear driftless control systems via time-varying homogeneous feedback" 1317-1322, 1994
10 R. T. N’Closkey, "Exponential stabilization of drift less control systems using homogeneous ieedback" 42 (42): 614-628, 1997
11 C C Chang, "Environment prediction lor a mobile robot in a dynamic environment" 13 (13): 862-872, 1997
12 Y. J. Kanayama, "A stable tracking control scheme for an autonomous mobile robot" 384-389, 1990
13 J. P Laumond, "A motion planner tor nonholonomic mobile robots" 10 (10): 577-593, 1994
14 김희진 ; 김동호 ; 장기원 ; 구병화 ; 한성현, "A Study on a New Approach to Robust Control and Torque Control Response Analysis of Manufacturing robot Based on Monitoring Simulator for Smart Factory" 한국산업융합학회 24 (24): 397-409, 2021
15 김희진 ; 동근한 ; 김동호 ; 장기원 ; 한성현, "A Study on Track Record and Trajectory Control of Articulated Robot Based on Monitoring Simulator for Smart Factory" 한국산업융합학회 23 (23): 149-161, 2020
16 김희진 ; 김동호 ; 정금준 ; 한성현, "A Study on Performance Analysis of Articulated Robot System for Smart Factory Based on Monitoring Simulator" 한국산업융합학회 23 (23): 889-896, 2020
17 김희진 ; 김동호 ; 한성현, "A Study on Fuzzy Logic Based Intelligent Control of Robot System to Improve the Work Efficiency for Smart Factory" 한국산업융합학회 24 (24): 645-658, 2021
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학술지 이력
연월일 | 이력구분 | 이력상세 | 등재구분 |
---|---|---|---|
2027 | 평가예정 | 재인증평가 신청대상 (재인증) | |
2021-01-01 | 평가 | 등재학술지 유지 (재인증) | ![]() |
2018-01-01 | 평가 | 등재학술지 선정 (계속평가) | ![]() |
2016-08-29 | 학회명변경 | 영문명 : The Korean Society of Industrial Conversion -> The Korean Society of Industry Convergence | ![]() |
2016-08-29 | 학술지명변경 | 한글명 : 한국산업응용학회논문집 -> 한국산업융합학회논문집외국어명 : Journal of The Korean Society of Industrial Application -> Journal of The Korean Society of Industry Convergence | ![]() |
2016-08-25 | 학회명변경 | 한글명 : 한국산업응용학회 -> 한국산업융합학회영문명 : The Korean Society Of Industrial Application -> The Korean Society of Industrial Conversion | ![]() |
2016-01-01 | 평가 | 등재후보학술지 선정 (신규평가) | ![]() |
학술지 인용정보
기준연도 | WOS-KCI 통합IF(2년) | KCIF(2년) | KCIF(3년) |
---|---|---|---|
2016 | 0 | 0 | 0 |
KCIF(4년) | KCIF(5년) | 중심성지수(3년) | 즉시성지수 |
0 | 0 | 0 | 0 |