Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Modeling and Path Following for Mobile Robot

이동 로봇의 모델링 및 경로 추종

  • 임철우 (제주대학교 통신공학과) ;
  • 김영구 (제주대학교 통신공학과) ;
  • 강진식 (제주대학교 통신공학과)
  • Published : 2002.06.01
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Abstract

In this paper the wheeled mobile robot is studied. The kinematic and dynamic modeling of the robot is presented via LPD(Linear Parameter Dependent) framework. A path-planning algorithm which is optimized in the sense of robot mobility and distance is presented. And by using PI controller we show that the presented algorithm and model is work very well in the computer simulation and experiment.

Keywords