서지주요정보
신경회로망에 의한 다중로보트의 충돌회피 경로계획 및 제어 = Collision-free trajectory planning and control for multiple robots based on neural network
서명 / 저자 신경회로망에 의한 다중로보트의 충돌회피 경로계획 및 제어 = Collision-free trajectory planning and control for multiple robots based on neural network / 이지홍.
저자명 이지홍 ; Lee, Ji-Hong
발행사항 [대전 : 한국과학기술원, 1991].
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등록번호

8001701

소장위치/청구기호

학술문화관(문화관) 보존서고

DEE 9116

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초록정보

Collision-free trajectory planning for multiple robots is considered. The multiple robot systems handled in the dissertation are divided into three groups according to the characteristics of their applications : i) the case when only the starting and final positions of the robots are specified, ii) the case when the paths are given, and iii) the case when the paths and the coordination are specified. For the case i), the configurations of robots are taken as the variables of the neural circuit, and the energy of network is determined by combining various functions, in which one function is to make each robot approach to its goal and another helps each robot form colliding with other robots. Also a differential equation of the circuit which tends to minimize the energy is derived. For the case ii), the robot dynamics is transformed as a function of the traveled lengths along the path, and the bounds on acceleration and velocity are described in the phase plane by taking the constraints on torques and joint velocities into consideration. Collision avoidance and time optimality are considered simultaneously in the coordination space and the phase plane, respectively. For the case iii), by describing the robot dynamics as a function of the traveled length along a coordination curve, the two-robot system is transformed to a virtual one-robot system, and a method for minimum-time velocity planning is derived in the phase plane and converted into a form to which simple iterative calculation can be applied. Finally in order to make the robots faithfully follow the planned path, structure of a controller with learning capability through the characteristics of neural network is proposed and discussed.

서지기타정보

서지기타정보
청구기호 {DEE 9116
형태사항 vi, 101 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 수록
저자명의 영문표기 : Ji-Hong Lee
지도교수의 한글표기 : 변증남
지도교수의 영문표기 : Zeung-Nam Bien
학위논문 학위논문(박사) - 한국과학기술원 : 전기 및 전자공학과,
서지주기 참고문헌 : p. 93-100
주제 Trajectory optimization
Robots --Dynamics
Industrial safety
Learning models (Stochastic processes)
신경 회로망 --과학기술용어시소러스
궤도 제어 --과학기술용어시소러스
충돌 방지 장치 --과학기술용어시소러스
지능 로봇 --과학기술용어시소러스
학습 제어 --과학기술용어시소러스
Neural networks (Computer science)
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