지형 극복을 위한 임베디드 시스템 기반바퀴 구동형 로봇의 설계에 관한 연구
A Study on the Design of Embedded System-Based Wheel Drive Robots for Overcoming the Terrain
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초록
본 논문은 경사면과 단차 등의 비평탄 지형 극복과 장애물 회피가 가능하도록 지능적인 센서 신호처리와 다양한 구동방식을 보유한 바퀴 구동형소형 지능 로봇의 설계와 구현을 목적으로 한다. 비평탄 지형 극복을 위해 편심 기어 구조를 제안하였으며, 실시간 균형 유지를 위해 최적의센서 신호처리를 적용하였고, 장애물 극복을 위해 LiDAR 센서를 활용한 장애물 인식 및 좁은 공간에서의 탈출이 가능한 전방위 구동 방식을 제안하고설계하였다. 로봇의 지능적 요소를 구현하고 제어하기 위해 최적의 임베디드 시스템을 설계하고 구축하였다.
Abstract
The purpose of this paper is to design and implement a wheel-driven small intelligent robot with intelligent sensor signal processingand various driving methods to overcome non-flat terrain such as slopes and steps and avoid obstacles. An eccentric gear structure wasproposed to overcome non-flat terrain, optimal sensor signal processing was applied to maintain real-time balance, and an omnidirectionaldriving method that enables obstacle recognition and escape from a narrow space using a LiDAR sensor was proposed and designedto overcome obstacles. An optimal embedded system was designed and constructed to implement and control the intelligent elementsof the robot.
참고문헌 (15)
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