Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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The Target Searching Method in the Chaotic Mobile Robot Embedding BVP Model

BVP 모델을 내장한 카오스 로봇에서의 목표물 탐색

  • 배영철 (전남대학교 공학대학 전기.전자통신.컴퓨터공학부) ;
  • 김이곤 (전남대학교 공학대학 전기.전자통신.컴퓨터공학부) ;
  • 구영덕
  • Published : 2007.04.25
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Abstract

In this paper, we composed chaos mobile robot by embedding many type of chaos circuit including Arnold Equation and Chua's Equation and proposed method of evaluation of obstacles when it meets or approaches an obstacle while the mobile robot searches an any plane with chaos trajectory and method of concentrating search when it faces target and verified these results. For obstacles avoidance, we developed algorithm that evades an obstacles with chaos trajectory by assuming fixed obstacle, obstacles using VDP model, hidden obstacles using BVP model as obstacles and for searching an object, we developed algorithm of searching with a chaos trajectory by assuming BVP model as an object, verified the results and confirmed reasonability of them.

본 본문은 Arnold 방정식, Chua's 방정식과 같은 여러 종류의 카오스 회로를 이동 로봇에 내장하여 카오스 이동 로봇을 구성하고 이 카오스 이동 로봇이 어느 임의 평면을 카오스 궤적을 가지고 탐색하다가 장해물을 만나거나 근접하게 되면 장해물을 회피하는 방법과 목표물을 만나면 목표물을 집중 탐색하는 방법을 제시하고 그 결과를 검증하였다. 장해물 회피를 위해서 장해물을 고정 장해물과 BVP 모델을 이용한 은닉 장해물로 장해물을 가정하여 카오스 궤적을 가지고 회피하도록 하는 알고리즘을 개발하고 목표물 탐색을 위해서 BVP 모델을 이용하여 목표물로 가정하여 카오스 궤적을 가지고 집중적으로 탐색하도록 하는 알고리즘을 개발하고 그 결과를 검증하였으며 이에 대한 타당성을 확인하였다.

Keywords

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