대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1992년도 하계학술대회 논문집 A
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- Pages.374-376
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- 1992
자율 이동 로보트를 위한 안정한 주행 제어 방법
A Stable Locomotion Control Method for an Autonomous Mobile Robot
- Shim, Hyun-Sik (Dept. of Elec. Eng., KAIST) ;
- Kim, Jong-Hwan (Dept. of Elec. Eng., KAIST)
- 발행 : 1992.07.23
초록
This paper proposes a stable locomotion control rule for non-holonomic mobile robot. Stability of the rule is proved through the use of a Liapunov function. We have two controller for locomotion control. One is velocity controller, the other is position controller. The proposed controller is position controller whose input to robot are a reference posture and reference velocities. The major objective of this paper is to propose a control rule to find a reasonable velocity command under a assumption which is velocity controller is ideal controller.
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