Path control of a mobile robot 'KMR-2' using odometer system

거리계를 이용한 이동로보트 'KMR-2'의 경로주행제어에 관한 연구

Free-path-type guidance system does not need a hardwired path in the environment so that it gives a mobile robot a flexible path. ln this study to achieve the free-path-type guidance system for a mobile robot which is steered by the differential steering of both drive forewheels, position recognition systems are constructed using odometer system as an internal position sensor. Two odometer systems, a auxiliary wheel odometer and a 2-encoder odometer system are constructed and path following algorithms using these odometer systems are designed and experimented. PID control type is adopted in the path following algorithms.