서지주요정보
자율주행 반송차에 있어서 신경망을 이용한 경로추종오차의 최소화에 관한 연구 = A study on minimizing in tracking error using neural network for free-ranging automated guided vehicle
서명 / 저자 자율주행 반송차에 있어서 신경망을 이용한 경로추종오차의 최소화에 관한 연구 = A study on minimizing in tracking error using neural network for free-ranging automated guided vehicle / 정인철.
저자명 정인철 ; Jeong, In-Chul
발행사항 [대전 : 한국과학기술원, 1998].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8008621

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 98069

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

초록정보

In this research, tracking error compensation method using Neural Network is proposed in order to minimize tracking error for FRAGV. Dynamic model for FRAGV is developed for simulation, and simulations are performed for various cases. And application of the proposed method to real FRAGV system developed in MSD Lab at KAIST, is executed. Neural Network adopts multi-layer perceptron, and is learned by Gradient descent rule. In simulation, proposed method shows better tracking performance than conventional control method for complicated continuous path. it also shows better tracking performance than conventional control method for non-continuous paths such as tetragonal path and triangular path. In experiment, proposed method shows nearly equal tracking performance compared to conventional control method. It was proved by actual movement data using video recorder. From such a fact, possibility of application of the proposed method to real system is validated. There may be three possible reasons that tracking performance of the proposed method is not better than conventional method. The first is incorrectness of position estimation from Dead reckoning. And the second is insufficient learning because of limitation of experimental space. The third is worse experimental condition such as irregularity of floor. Complement for above possible reasons will give improved tracking performance than these results.

서지기타정보

서지기타정보
청구기호 {MME 98069
형태사항 vi, 75 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : In-Chul Jeong
지도교수의 한글표기 : 이두용
지도교수의 영문표기 : Doo-Yong Lee
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 73-75
주제 자율주행 반송차
신경회로망
온라인 학습
경로추종오차 최소화
경로추종오차 보상기
Free-ranging automated vehicle
Neural network
On line learning
Tracking error minimizing
Tracking error compensator
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