파일럿 채광 로봇의 실시간 운용 소프트웨어 소개

Abstract

This paper presents development results of real-time operating software using NI LabVIEW. The pilot mining robot system needs the operating software that has three major characteristic remote, real-time, and expansibility. In 2013, ‘2nd PPMT’test is conducted in stage 6. Three major algorithms used for performance test of mining and driving of pilot mining robot. Three algorithms are PI control algorithm for track velocity control, underwater navigation algorithm based on the kalman filter, and path tracking algorithm based on the pure pursuit. And then the operating software is composed of four software control, RT, surveillance, and database. This paper introduces software requirements for each stage and a composition of the operating software.PMT’test is conducted in stage 6. Three major algorithms used for performance test of mining and driving of pilot mining robot. Three algorithms are PI control algorithm for track velocity control, underwater navigation algorithm based on the kalman filter, and path tracking algorithm based on the pure pursuit. And then the operating software is composed of four software control, RT, surveillance, and database. This paper introduces software requirements for each stage and a composition of the operating software.