초음파센서 기반 자율주행 로봇의 장애물 회피에 관한 연구

다국어 초록 (Multilingual Abstract)

This paper presents the theoretical development of a complete navigation problem of a nonholonomic mobile robot by using ultrasonic sensors. To solve this problem, a new method to computer a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constranits of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic system modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests.
In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonci sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory antomation.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 본론
• 3. 결론
• 참고문헌