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

  • 제8권8호
  • /
  • Pages.1692-1699
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  • 2004
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  • 2234-4772(pISSN)
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  • 2288-4165(eISSN)
한국정보통신학회 (The Korea Institute of Information and Commucation Engineering)
권호 표지

카오스 이동 로봇에서의 장애물 회피 기법

Obstacle Avoidance Technique for Chaotic Mobile Robot

  • 배영철 (여수대학교 공과대학 전자통신전기공학부) ;
  • 김천석 (여수대학교 공과대학 전자통신전기공학부)
  • 발행 : 2004.12.01
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⟨ 이전 논문 다음 논문 ⟩

초록

본 논문에서는 카오스 궤적 표면에서 불안정한 리미트 사이클을 가지는 장애물 회피 기법을 제안하였다. 카오스 궤적 표면의 모든 장애물은 불안정한 리미트 사이클을 가지는 Van der Pol 방정식으로 가정하였다. 하나 또는 몇 개의 Van der Pol 장애물과 고정 장애물을 로봇이 피해가는 과정을 결과로 나타내었다.

In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. We also show computer simulation results of Arnold equation, Chua's equation, Hyper-chaos equation, Hamilton equation and Lorenz chaos trajectories with one or more Van der Pol obstacles.

키워드

참고문헌

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