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ÇѱÛÁ¦¸ñ(Korean Title) |
»ç¶÷°ú ·Îº¿ÀÇ »óÈ£ÀÛ¿ëÀ» ÅëÇÑ Ã»¼Ò ·Îº¿ ¾Ë°í¸®Áò |
¿µ¹®Á¦¸ñ(English Title) |
Cleaning Robot Algorithm through Human-Robot Interaction |
ÀúÀÚ(Author) |
±è½Â¿ë
±èÅÂÇü
Seungyong Kim
Taehyung Kim
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¿ø¹®¼ö·Ïó(Citation) |
VOL 35 NO. 05 PP. 0297 ~ 0305 (2008. 05) |
Çѱ۳»¿ë (Korean Abstract) |
û¼Ò ·Îº¿Àº Áöµµ ÀÛ¼º ¹× À§Ä¡ ÀνÄÀ» ±âÁØÀ¸·Î û¼Ò ¹æ¹ýÀ» ·£´ý(random)¹æ½Ä°ú ¸ÅÇÎ(mapping)¹æ½ÄÀ¸·Î ºÐ·ù ÇÒ ¼ö ÀÖ´Ù. ·£´ý¹æ½ÄÀº Áöµµ¸¦ ÀÛ¼ºÇÏÁö ¾Ê¾Æ °¡°Ý°æÀï·ÂÀÌ ÀÖÁö¸¸ È¿À²ÀÌ ¶³¾îÁø´Ù. ¹Ý¸é, ¸ÅÇιæ½ÄÀº Áöµµ¸¦ ÀÛ¼ºÇϹǷΠû¼Ò È¿À²ÀÌ ³ôÁö¸¸ »ó´ëÀûÀÎ °¡°Ý°æÀï·ÂÀÌ ¶³¾îÁø´Ù. ±×·¯¹Ç·Î ·£´ý¹æ½Ä°ú ¸ÅÇιæ½ÄÀÇ ¹®Á¦Á¡µéÀ» º¸¾ÈÇϱâ À§ÇØ º» ³í¹®Àº °í°¡ÀÇ ¼¾¼ Á¤º¸¸¦ »ç¿ëÇÏÁö ¾Ê°í »ç¶÷ÀÌ Ã»¼Ò ·Îº¿¿¡°Ô û¼Ò °ø°£¿¡ ´ëÇÑ Á¤º¸¸¦ ¾Ë·ÁÁÖ¸ç, ÀÌ Á¤º¸¸¦ ÀÌ¿ëÇÏ¿© ±âÁ¸ÀÇ Ã»¼Ò ·Îº¿º¸´Ù È¿À²ÀûÀÌ°í Àú·ÅÇÑ Ã»¼Ò ·Îº¿À» Á¦¾ÈÇÑ´Ù. ¶ÇÇÑ ±âÁ¸ÀÇ Ã»¼Ò ·Îº¿°ú º» ³í¹®¿¡¼ Á¦¾ÈÇÑ Ã»¼Ò ·Îº¿°úÀÇ ¼º´É ºñ±³¸¦ ÅëÇؼ º» ³í¹®¿¡¼ Á¦¾ÈÇÑ ¹æ½ÄÀÇ È¿À²¼ºÀ» º¸ÀδÙ. |
¿µ¹®³»¿ë (English Abstract) |
We present a cleaning robot algorithm that can be implemented on low-cost robot architecture while the cleaning performance far exceeds the conventional random style cleaning through human-robot interaction. We clarify the advantages and disadvantages of the two notable cleaning robot styles: the random and the mapping styles, and show the possibility how we can achieve the performance of the complicated mapping style under the random style-like robot architecture using the idea of human-aided cleaning algorithm. Experimental results are presented to show the performance. |
Å°¿öµå(Keyword) |
û¼Ò ·Îº¿
·£´ý¹æ½Ä û¼Ò
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»ç¶÷°ú ·Îº¿°£ÀÇ »óÈ£ ÀÛ¿ë
Cleaning robots
Random style cleaning
Mapping style cleaning
Human-robot interaction
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