본문 바로 가기

로고

국내 최대 기계 및 로봇 연구정보
통합검색 화살표
  • Objet500 Connex3 (3D프린터)
  • 국내학술지

    135 0
    국내학술지 제목 게시판 내용
    제목(국문) 능동 가상 임피던스를 이용한 이동 음원 추종 로봇의 장애물 회피
    제목(영문) Obstacle Avoidance of a Moving Sound Following Robot using Active Virtual Impedance
    저자 NULL
    초록
    초록(영문)
    An active virtual impedance algorithm is newly proposed to track a sound sovarce and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.
    keyword microphone array, location, obstacle avoidmce, mobile robot, sound source
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 20
    PAGE 200-210
    발표년도 2014
    국문File 국문다운로드
    영문File
    • 페이스북아이콘
    • 트위터 아이콘

    서브 사이드

    서브 우측상단1