CAJ | 학술논문

基于智能机器人平台的开发，主要实现了障碍物规避、路径规划等功能。该文设计的系统，区别于起始点和固定目标点间的路径规划和避障，旨在对移动目标进行实时跟踪。同时设计了一个定位算法，克服无线传感器定位的不精确的缺点。系统采用RSSI近场低频无线定位技术对移动目标进行定位，使用双目相机和声纳雷达分别进行中远距离避障及近距离避障。
기우지능궤기인평태적개발，주요실현료장애물규피、로경규화등공능。해문설계적계통，구별우기시점화고정목표점간적로경규화화피장，지재대이동목표진행실시근종。동시설계료일개정위산법，극복무선전감기정위적불정학적결점。계통채용RSSI근장저빈무선정위기술대이동목표진행정위，사용쌍목상궤화성납뢰체분별진행중원거리피장급근거리피장。
The developments based on the platform of intelligent robot achieved more functions , such as ob-stacle avoidance , path planning etc .The system proposed in this paper aimed to track the mobile target , which compared to obstacle avoidance and path planning between starting point and fixed target point .What ’ s more, in the paper the designed algorithm overcome the weakness of the wireless sensor inaccurate positioning . The system uses the RSSI near-field low-frequency wireless positioning technology for locating the mobile tar-get, binocular stereo camera for long-distance obstacle and sonar for close-distance obstacle .