2축식 드론 추적 로봇의 제어기 설계 및 선정 방안 연구 (Study on the Design and Selection of Controller for Two Axial Drone Tracking Robot)

서지정보

· 발행기관 : 사단법인 유공압건설기계학회
· 수록지 정보 : 드라이브·컨트롤 / 21권 / 3호 / 28 ~ 35페이지
· 저자명 : 박승운, 김보겸, 박창대, 임현준, 이철희

초록

This study compared performances of PID (Proportional Integral Derivative), SMC (Sliding Mode Control), and MPC (Model Predictive Control) strategies applied to a 2DOF (Degree Of Freedom) drone tracking robot. The developed 2DOF robot utilized a depth camera with an IMU (Inertial Measurement Unit), laser pointers, and servo motors to rapidly detect and track objects. Image processing was conducted using the YOLO deep learning model. Through this setup, controllers were attached to the robot to track random drone movements, comparing performances in terms of accuracy and energy consumption. This study revealed that while SMC demonstrated precise tracking without deviating from the path, both PID and MPC controllers showed deviations. Performance-wise, SMC is superior. However, considering economic aspects, PID is more advantageous due to its lower power consumption and relatively minor tracking errors.

영어초록

This study compared performances of PID (Proportional Integral Derivative), SMC (Sliding Mode Control), and MPC (Model Predictive Control) strategies applied to a 2DOF (Degree Of Freedom) drone tracking robot. The developed 2DOF robot utilized a depth camera with an IMU (Inertial Measurement Unit), laser pointers, and servo motors to rapidly detect and track objects. Image processing was conducted using the YOLO deep learning model. Through this setup, controllers were attached to the robot to track random drone movements, comparing performances in terms of accuracy and energy consumption. This study revealed that while SMC demonstrated precise tracking without deviating from the path, both PID and MPC controllers showed deviations. Performance-wise, SMC is superior. However, considering economic aspects, PID is more advantageous due to its lower power consumption and relatively minor tracking errors.

참고자료

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