무인FA를 위한 자율주행 로봇의 경로계획 및 실시간 궤적제어에 관한 연구

다국어 초록 (Multilingual Abstract)

This study proposes a efficient technology to control the optimal trajectory planning and real-time implementation method which can perform autonomous travelling for unmaned factory automation. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot’s path. Based on Route planning and control algorithm, we suggested representation of edge cost, heuristic function, and priority queue management, to make a modified Route planning algorithm. Performance of the proposed algorithm is verified by simulation test.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 경로계획 및 제어 알고리즘
• 3. 제어기 구성
• 4. 성능실험 결과 및 고찰
• 5. 맺음말
• 참고문헌

참고문헌 (Reference)

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