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면역 알고리즘을 이용한 쿼드로터 장애물회피 기술

Title
면역 알고리즘을 이용한 쿼드로터 장애물회피 기술
Translated Title
An Obstacle Avoidance Technique of Quadrotor Using Immune Algorithm
Authors
손병락한창섭이현이동하
DGIST Authors
손병락; 이동하
Issue Date
2014-10
Citation
대한임베디드공학회논문지, 9(5), 269-276
Type
Article
Keywords
Immune algorithmObstacle avoidanceAutonomous navigationColor discriminationUnmanned aircraft vehicles(UVAs)
ISSN
1975-5066
Abstract
In recent, autonomous navigation techniques to avoid obstacles have been studied by using unmanned aircraft vehicles(UAVs) since the increment of UAV's interest and utilization. Particularly, autonomous navigation based UAVs are utilized in several areas such as military, police, media, and so on. However, there are still some problems to avoid obstacle when UVAs perform autonomous navigation. For instance, the UAV can not forward in the corner of corridors even though it utilizes the improved vanish point algorithm that makes an autonomous navigation system. Therefore, in this paper, we propose an obstacle avoidance technique based on immune algorithm for autonomous navigation of Quadrotor. The proposed algorithm is consisted of two steps such as 1) single color discrimination and 2) multiple color discrimination. According to the result of experiments, we can solve the previous problem of the improved vanish point algorithm and improve the performance of autonomous navigation of Quadrotor.
URI
http://hdl.handle.net/20.500.11750/4912
DOI
10.14372/IEMEK.2014.9.5.269
Publisher
대한임베디드공학회
Related Researcher
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Wellness1. Journal Articles


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