제어로봇시스템학회:학술대회논문집
- 1991.10a
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- Pages.787-792
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- 1991
A steering control method for wheel-driven mobile robot
휠구동방식의 자유이동로봇을 위한 조향제어방법
Abstract
This paper proposes a steering control algorithm for non-holonomic mobile robots. The steering control algorithm is essential to navigate autonomous vehicles which employ comination of the dead reckoning and absolute sensor system such as a machine vison for detecting landmarks in order to estimate the current location of the mobile robot. The proposed algorithm is based on the minimum time BANG-BANG controller and curvature-continuity curve design method. In the BANG-BANG control scheme we introduce velocity/acceleration limiter to avoid any slippage of driving wheels. The proposed scheme is robot-independent and hence can be applied to various kinds of mobile robot or vehicles. To show the effectness of the proposed control algorithm, a series of computer simulations were conducted for two-wheel driven mobile robot.
Keywords