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--- mobile_robot [2016/10/17 09:56]
wlgns5220 created
+++ mobile_robot [2016/10/17 13:27] (현재)
wlgns5220
@@ 줄 2: / 줄 2: @@
 Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this study presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A microcontroller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.\\
 \\
-{{http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile%20Robot/Ultrasonic_Sensors.jpg}}
+{{:pasted:20161017-131755.png}}
 ===== Steering-by-Tether and Modular Architecture for Human-Following Robot =====
@@ 줄 11: / 줄 11: @@
 effectively, ZigBee wireless communication technology is also implemented.\\
 \\
-{{http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile%20Robot/Human_Following_Robot_1.jpg?400x300}}
+{{:pasted:20161017-131802.png?400}}
-{{http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile%20Robot/Human_Following_Robot_2.jpg?400x300}}
+{{:pasted:20161017-131805.png?400}}
@@ 줄 25: / 줄 25: @@
 efficiency of the proposed spherical robot.
-<html>
+<flashplayer width=300 height=260>file=/data/media/[wheeling]forward.flv&image=/data/media/wheeling forward.JPG</flashplayer>
- <table border="0" width="1200" height="300">
+<flashplayer width=300 height=260>file=/data/media/[rolling]forward_back.flv&image=/data/media/wheeling forward_backward.JPG</flashplayer>
-  <tr>
+<flashplayer width=300 height=260>file=/data/media/[wheeling]Stop.flv&image=/data/media/wheeling Stop.JPG</flashplayer>
-   <td><embed src="http://irl.knu.ac.kr/ftp/Labpage/flvplayer/flvplayer.swf" width="370" height="300" bgcolor="undefined"
-        allowscriptaccess="always" allowfullscreen="true" flashvars="file=http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile Robot/[wheeling]forward.flv&image=http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile Robot/wheeling forward.JPG"></td>
-   <td><embed src="http://irl.knu.ac.kr/ftp/Labpage/flvplayer/flvplayer.swf" width="370" height="300" bgcolor="undefined"
-        allowscriptaccess="always" allowfullscreen="true" flashvars="file=http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile Robot/[rolling]forward_back.flv&image=http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile Robot/wheeling forward_backward.JPG"></td>
-   <td><embed src="http://irl.knu.ac.kr/ftp/Labpage/flvplayer/flvplayer.swf" width="370" height="300" bgcolor="undefined"
-        allowscriptaccess="always" allowfullscreen="true" flashvars="file=http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile Robot/[Wheeling]Stop.flv&image=http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile Robot/wheeling Stop.JPG"></td>
-  <tr>
- </table>
-</html>
@@ 줄 56: / 줄 46: @@
 Experiments for several motions verify the driving efficiency of the proposed spherical robot.
-<html>
+<flashplayer width=250 height=210>file=/data/media/[20110330]forward.flv</flashplayer>
- <table border="0" width="600" height="100">
+<flashplayer width=250 height=210>file=/data/media/[20110330]horizontal driving.flv</flashplayer>
-  <tr>
+<flashplayer width=250 height=210>file=/data/media/[20110331]spin motion.flv</flashplayer>
-   <td><embed src="http://irl.knu.ac.kr/ftp/Labpage/flvplayer/flvplayer.swf" width="270" height="200" bgcolor="undefined"
+<flashplayer width=250 height=210>file=/data/media/[20110904]velocity control.flv</flashplayer>
-        allowscriptaccess="always" allowfullscreen="true" flashvars="file=http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile Robot/[20110330]forward.flv"></td>
-   <td><embed src="http://irl.knu.ac.kr/ftp/Labpage/flvplayer/flvplayer.swf" width="270" height="200" bgcolor="undefined"
-        allowscriptaccess="always" allowfullscreen="true" flashvars="file=http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile Robot/[20110330]horizontal driving.flv"></td>
-   <td><embed src="http://irl.knu.ac.kr/ftp/Labpage/flvplayer/flvplayer.swf" width="270" height="200" bgcolor="undefined"
-        allowscriptaccess="always" allowfullscreen="true" flashvars="file=http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile Robot/[20110331]spin motion.flv"></td>
-   <td><embed src="http://irl.knu.ac.kr/ftp/Labpage/flvplayer/flvplayer.swf" width="270" height="200" bgcolor="undefined"
-        allowscriptaccess="always" allowfullscreen="true" flashvars="file=http://irl.knu.ac.kr/ftp/Labpage/Research/Mobile Robot/[20110904]velocity control.flv"></td>
-  <tr>
- </table>
-</html>

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