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면역 알고리즘을 이용한 쿼드로터 장애물회피 기술
- 면역 알고리즘을 이용한 쿼드로터 장애물회피 기술
- Translated Title
- An Obstacle Avoidance Technique of Quadrotor Using Immune Algorithm
- 손병락; 한창섭; 이현; 이동하
- DGIST Authors
- 손병락; 이동하
- Issue Date
- 대한임베디드공학회논문지, 9(5), 269-276
- Immune algorithm; Obstacle avoidance; Autonomous navigation; Color discrimination; Unmanned aircraft vehicles(UVAs)
- 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.
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