2019년 추계학술대회
Current Result Document : 154 / 154
| 한글제목(Korean Title) |
A Study of a NON-ROS Efficient Obstacle Avoidance Algorithm for TurtleBot 2 Based Embedded System |
| 영문제목(English Title) |
A Study of a NON-ROS Efficient Obstacle Avoidance Algorithm for TurtleBot 2 Based Embedded System |
| 저자(Author) |
Ingabiore Onesphore
Minyoung Kim
Jong-wook Jang
|
| 원문수록처(Citation) |
VOL 23 NO. 02 PP. 0006 ~ 0009 (2019. 10) |
한글내용
(Korean Abstract) |
|
영문내용
(English Abstract) |
In recent years, the Robot Operating System (ROS) has been employed as the most popular method to control robots. TurtleBot 2 is one of the robots that can be controlled using ROS. However, ROS consumes lots of computational resources and needs to be running on a high-cost computer with high power in terms of storage and speed. In order to overcome these issues, using an embedded system will result in efficiency and financial benefits. In this paper, we present the study of an efficient obstacle avoidance algorithm running on an embedded system that is not based on ROS. The algorithm consists of collecting data from the sensor and helping TurtleBot 2 to make a decision such as a stop, move forward, move backward and turn clockwise or counterclockwise. The proposed algorithm is being implemented using Windows 10 IoT core running on Raspberry pi and the RPLIDAR A2 sensor is used for an obstacle sensing. Universal Windows Platform (UWP) app and C# programming language are being used to implement the algorithm. |
| 키워드(Keyword) |
Windows 10 IoT core
UWP
Raspberry pi
RPLIDAR A2
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| 파일첨부 |
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