한국정보통신학회논문지 (Journal of the Korea Institute of Information and Communication Engineering)

  • 제25권4호
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  • Pages.549-557
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  • 2021
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  • 2234-4772(pISSN)
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  • 2288-4165(eISSN)
한국정보통신학회 (The Korea Institute of Information and Commucation Engineering)
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OID센서로 주행하는 교육용 로봇의 주행 개선을 위한 연구

A Study on the Improvement of Driving of Educational Robots with OID Sensors

  • Song, Hyun-Joo (Department of Software Engineering, Korea Cyber University)
  • 투고 : 2021.02.24
  • 심사 : 2021.03.09
  • 발행 : 2021.04.30
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초록

본 연구는 교육용 로봇 중 한 종류인 스마트로봇을 대상으로 기존의 OID 센서 환경을 이용하되 주행의 문제점을 프로그램으로 처리하는 것을 제안 하고자 한다. 주행 정보를 가지고 있는 지도환경, 위치인식, 경로계획, 장애물 회피 및 경로 재설정을 중심으로 주행 테스트 환경을 구축했으며 평균적인 최종 오류 률이 아니라 오류가 증가하는 시점을 재보정의 순간으로 잡아야 한다는 가정을 통해 실험을 진행했다. 그 과정을 통해 선행실험에 비해 안정적인 주행 결과를 얻었다. 본 연구가 현재 판매되는 저가형 센서를 장착한 교육용 로봇들의 주행 성능을 올릴 수 있는 개발방법이 될 것이라 본다.

In this research, we will use the existing OID sensor environment for smart robots, which are a type of educational robot, but we would like to propose that the problem of running be handled by a program. Maybe you have driving information We are building a driving test environment focusing on environment, position recognition, route planning, obstacle avoidance and path reset, and it is not the average final error rate, but the time when the error increases The experiment was conducted by a household that catches the moment of recalibration. Through the process, stable running results were obtained compared to the previous experiment. In this research, I think that it will be a development method that can improve the running performance of educational robots equipped with low-cost sensors currently on the market.

키워드

참고문헌

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