Á¤º¸Ã³¸®ÇÐȸ ³í¹®Áö ¼ÒÇÁÆ®¿þ¾î ¹× µ¥ÀÌÅÍ °øÇÐ
Current Result Document : 60 / 377
ÇѱÛÁ¦¸ñ(Korean Title) |
¿µ»ó °´Ã¼ °ËÃâÀ» ÀÌ¿ëÇÑ µå·Ð°ú Áö»ó·Îº¿ÀÇ ¼¾¼ À¶ÇÕ µµÅ· ½Ã½ºÅÛ |
¿µ¹®Á¦¸ñ(English Title) |
Sensor Fusion Docking System of Drone and Ground Vehicles Using Image Object Detection |
ÀúÀÚ(Author) |
¹éÁ¾È¯
¹ÚÈñ¼ö
¿À¼¼·É
½ÅÁöÈÆ
±è»óÈÆ
Jong-Hwan Beck
Hee-Su Park
Se-Ryeong Oh
Ji-Hun Shin
Sang-Hoon Kim
|
¿ø¹®¼ö·Ïó(Citation) |
VOL 06 NO. 04 PP. 0217 ~ 0222 (2017. 04) |
Çѱ۳»¿ë (Korean Abstract) |
º» ¿¬±¸¿¡¼´Â »ç¶÷À» ´ë½ÅÇÏ¿© Çè³ÇÑ ÁöÇü¿¡¼ À§ÇèÀÛ¾÷À» ¼öÇàÀÌ °¡´ÉÇÑ Áö»ó·Îº¿°ú ªÀº ½Ã°£ ¾È¿¡ ¿ø°Å¸® ºñÇàÀÌ °¡´ÉÇÑ µå·Ð°úÀÇ °áÇÕÀ» ÅëÇØ À§Çè »óȲ¿¡¼ÀÇ È¿°úÀûÀÎ Çù¾÷ÀÌ °¡´ÉÇÑ ½Ã½ºÅÛÀ» ±¸ÇöÇÏ¿´´Ù. ÃÖ±Ù °ü·Ã ¿¬±¸´Â µå·ÐÀ» ¼ö¿ëÇÒ ¼ö ÀÖ´Â ¹«ÀÎÁö»óÂ÷·®À̳ª 4Á· ·Îº¿¿¡ °üÇÑ ¿¬±¸°¡ ÀÖ¾úÀ¸³ª Àüü °¡¿ë ½Ã°£ÀÇ ÀåÁ¡¿¡ ºñÇØ ´ë±Ô¸ð ·Îº¿À» ÇÊ¿ä·Î ÇÏ¿© ÇöÀå¿¡¼ Àû¿ëÇϱ⿣ ¾î·Á¿òÀÌ ÀÖ¾ú´Ù. º» ³í¹®¿¡¼´Â °æ·® µå·Ð¿¡ ÀåÂøµÈ ÀÓº£µðµå À¥Ä·°ú ¿µ»óó¸® ¾Ë°í¸®ÁòÀ» »ç¿ëÇÏ¿© °´Ã¼ÀÇ ÇÑ À¯ÇüÀÎ ¸¶Ä¿¸¦ Canny Edge ¾Ë°í¸®Áò ¹× ƯÁ¤ÇÑ Template matching ¹æ¹ýÀ» ÅëÇÏ¿© ºñÇà Áß ½Ç½Ã°£ °ËÃâÇÑ °á°ú¸¦ º¸¿©ÁÖ¸ç, Áö»ó·Îº¿À§¿¡ Ç¥½ÃµÈ ¸¶Ä¿ÀÇ 2Â÷¿øÀû À§Ä¡ Á¤º¸ ȹµæ°ú ·¹ÀÌÀú ¼¾¼¸¦ ÀÌ¿ëÇÑ »ó´ë°Å¸® È®º¸¸¦ À¶ÇÕÇÏ¿© Áö»ó·Îº¿°ú µå·Ð°£ÀÇ µµÅ·À» ±¸ÇöÇÏ´Â ½Ã½ºÅÛÀ» Á¦¾ÈÇÏ¿´´Ù. ½ÇÇèÀ» ÅëÇÏ¿© Á¦¾ÈµÈ ½Ã½ºÅÛÀº 50ȸÀÇ µµÅ· ½Ãµµ¿¡¼ 95%ÀÇ µµÅ· ¼º°ø·üÀ» º¸¿´À¸¸ç 6°¡ÁöÀÇ Template mateching ¹æ¹ý Áß ½Ã½ºÅÛ¿¡ Àû¿ëÇÒ ¼ö ÀÖ´Â 2°¡ÁöÀÇ ÅÛÇø´ ¸ÅÄ¡ ¹æ¹ýÀ» Á¦½ÃÇÏ¿´´Ù.
|
¿µ¹®³»¿ë (English Abstract) |
Recent studies for working robot in dangerous places have been carried out on large unmanned ground vehicles or 4-legged robots with the advantage of long working time, but it is difficult to apply in practical dangerous fields which require the real-time system with high locomotion and capability of delicate working. This research shows the collaborated docking system of drone and ground vehicles which combines image processing algorithm and laser sensors for effective detection of docking markers, and is finally capable of moving a long distance and doing very delicate works. We proposed the docking system of drone and ground vehicles with sensor fusion which also suggests two template matching methods appropriate for this application. The system showed 95% docking success rate in 50 docking attempts.
|
Å°¿öµå(Keyword) |
µå·Ð
µµÅ· ±â¼ú
¿µ»ó °´Ã¼ °ËÃâ
ÅÛÇø´ ¸ÅĪ
Drone
Docking Method
Image Object Detection
Template Matching
|
ÆÄÀÏ÷ºÎ |
PDF ´Ù¿î·Îµå
|