2018³â Ãß°è Çмú´ëȸ
Current Result Document :
ÇѱÛÁ¦¸ñ(Korean Title) |
ROS¸¦ ÀÌ¿ëÇÑ µå·ÐÀÇ »óÅ ÃßÁ¤°ú Á¦¾î±â ¼³°è |
¿µ¹®Á¦¸ñ(English Title) |
State Estimator and Controller Design of an AR Drone with ROS |
ÀúÀÚ(Author) |
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Kwan-Soo Kim
Hyun-Ho Kang
Sang-Su Lee
Sung-Hyun You
Dhong-Hun Lee
Dong-Kyu Lee
Young-Eun Kim
Choon-Ki Ahn
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¿ø¹®¼ö·Ïó(Citation) |
VOL 25 NO. 02 PP. 0434 ~ 0437 (2018. 11) |
Çѱ۳»¿ë (Korean Abstract) |
º» ³í¹®¿¡¼´Â ROS (Robot Operating System)¿¡ ´ëÇؼ ¼Ò°³ÇÏ°í ROS¸¦ ÀÌ¿ëÇØ µå·ÐÀÇ Á¦¾î±â¿Í ÇÊÅ͸¦ ±¸ÇöÇغ»´Ù. µå·ÐÀÌ °ÀÎÇÑ ¼º´ÉÀ» º¸À̱â À§Çؼ´Â ±âüÀÇ »óÅ¿¡ ´ëÇÑ ´õ Á¤È®ÇÑ ÃßÁ¤ÀÌ ÇÊ¿äÇÏ´Ù. µå·ÐÀÌ ±âüÁÂÇ¥°è·Î Ãâ·ÂÇÏ´Â °¢ Ãà(xÃà, yÃà, zÃà)¿¡ ´ëÇÑ ¼±¼Óµµ, ¼±°¡¼Óµµ¸¦ ´õ Á¤È®È÷ ÃßÁ¤Çϱâ À§ÇØ Ä®¸¸ ÇÊÅ͸¦ ¼³°èÇϸç Ä®¸¸ ÇÊÅ͸¦ Åë°úÇÑ »óÅ º¯¼ö¸¦ Á¦¾î ÀÔ·ÂÀ¸·Î ÇÏ´Â PID(Proportional Integral Derivative) Á¦¾î±â¸¦ ¼³°èÇÑ´Ù. ½ÇÇèÀûÀÎ ºÎºÐ¿¡¼´Â Á¦¾î±â¿Í ÀÚÀ² ÁÖÇà ¾Ë°í¸®ÁòÀ» Á¢¸ñ½ÃÄÑ µå·ÐÀÌ ÀÚ½ÅÀÇ »óŸ¦ ÃßÁ¤ÇÏ°í ¾Ë°í¸®ÁòÀ» ¼øÂ÷ÀûÀ¸·Î ÁøÇàÇÏ´Â °úÁ¤À» »ìÆ캻´Ù. ¸¶Áö¸·À¸·Î ¾Ë°í¸®ÁòÀ» ÅëÇØ µå·ÐÀÇ ÀÓ¹« ¼öÇà ¿©ºÎ¸¦ »ìÆ캸°í Á¤¹ÐÇÑ Á¦¾î¸¦ À§ÇÑ Ãß°¡ÀûÀÎ Á¦¾î±â ¼³°è ¹æ¹ý°ú ¿¬±¸ ¹æÇâÀ» Á¦½ÃÇÏ°íÀÚ ÇÑ´Ù.
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¿µ¹®³»¿ë (English Abstract) |
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