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¿µ¹®Ç¥Áظí Performance Evaluation Methods of Delivery Robots in The Environment with Large Difference in Illumination and Surface Friction Coefficient
Çѱ۳»¿ë¿ä¾à Á¶µµÂ÷°¡ Å« ȯ°æ¿¡¼­ÀÇ Àå¾Ö¹° ÀÎ½Ä ¼º´ÉÆò°¡ ¹æ¹ýÀº ±¸Á¶¹°À» ÅëÇØ Å« Á¶µµÂ÷¸¦ ±¸ÇöÇÏ°í ƯÁ¤ À§Ä¡¿¡ Àå¾Ö¹°À» µÎ¾î ÀÚÀ²ÁÖÇàÀ¸·Î ·Îº¿À» ¸ñÀûÁö·Î À̵¿½ÃÄÑ Àå¾Ö¹°¿¡ Á¢ÃË ¿©ºÎ ÁÖÇà½Ã°£À¸·Î , ¼º°ø ¿©ºÎ¸¦ ÆÇ´ÜÇÑ´Ù ºÒ±ÔÄ¢ÇÑ . ¸¶Âû°è¼ö¸¦ °¡Áø ¹Ù´Ú¸é¿¡¼­ÀÇ ÁÖÇà ¼º´ÉÆò°¡ ¹æ¹ýÀº °¡¼Ó±¸°£°ú ¸¶Âû°è¼ö º¯°æ±¸°£À¸·Î ±¸¼ºµÈ ½ÃÇèÀå¿¡¼­ ½ÃÀÛÁ¡ºÎÅÍ ¸ñÇ¥Á¡±îÁö ÃÖ´ë¼Óµµ·Î ÁÖÇàÇÏ´Â ½Ã³ª¸®¿À 1°ú °¡¼Ó±¸°£¿¡¼­ °¡¼Ó ÈÄ ¸¶Âû°è¼ö º¯°æ±¸°£¿¡¼­ Á¤Áö ÈÄ ´Ù½Ã ÁÖÇàÇÏ´Â ½Ã³ª¸®¿À 2¿¡ µû¶ó ½Ç½ÃÇϸç ÁÖÇà½Ã°£ ÀûÀç¹°ÀÇ ³«ÇÏ ¿©ºÎ ·Îº¿ÀÇ , Àüº¹ ¿©ºÎ·Î ¼º°ø ¿©ºÎ¸¦ ÆÇ´ÜÇÑ´Ù.
¿µ¹®³»¿ë¿ä¾à The success in the obstacle recognition performance evaluation method of a robot is decided by the autonomous driving through an environment with huge illumination differences implemented through the installment of structures and obstacles placed in specific locations to set the environment, here the robot must move to a set destination without contact with obstacles and must arrive at said destination in a set amount of time. The success in the method of evaluating the driving performance of a robot on a course with irregular friction coefficient is decided through scenario 1 which is driving at the maximum speed from the starting point to the target point while in the acceleration and friction coefficient change section and scenario 2 which is stopping and driving again in the friction coefficient change section, the success is determined by the driving time, the dropping of the load, and the rollover of the robot.
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