제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Development and Control of a Roadway Seam Tracking Mobile Robot

  • Cho, Hyun-Taek (Intelligent Systems and Emotional Engineering Lab. Department of Mechatronics Engineering Chungnam National University) ;
  • Jeon, Poong-Woo (Intelligent Systems and Emotional Engineering Lab. Department of Mechatronics Engineering Chungnam National University) ;
  • Jung, Seul (Intelligent Systems and Emotional Engineering Lab. Department of Mechatronics Engineering Chungnam National University)
  • Published : 2003.10.22
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Abstract

In this paper, a crack sealing robot is developed. The crack sealing robot is built to detect, track, and seal the crack on the pavement. The sealing robot is required to brush all dirt in the crack out for preparing a better sealing job. Camera calibration has been done to get accurate crack position. In order to perform a cleaning job, the explicit force control method is used to regulate a specified desired force in order to maintain constant contact with the ground. Experimental studies of force tracking control are conducted under unknown environment stiffness and location. Crack tracking control is performed. Force tracking results are excellent and the robot finds and tracks the crack very well.

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