전자공학회논문지S (Journal of the Korean Institute of Telematics and Electronics S)
- 제34S권11호
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- Pages.63-72
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- 1997
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- 1226-5837(pISSN)
차동 구동형 이동 로보트의 위치, 방향 및 속도 궤환 제어 알고리즘
Position, Orientation, and Velocity Feedback Control Algorithms for Differential-Drive Bobile Robot
초록
The design and implementation of a drive wheel position, orientation, and velocity feedback control algorithm for a differential-drive mobile robot is described here. A new concept, the most significant error, is introduced as the control design objective. Drive wheel position, orientation, and velocity feedback control directly minimize the most siginificant error by coordinating the motion of the two drive wheels. The drive wheel position, orientation, and velocity feedback control algorithm is analyzed and experiments are conducted to evaluate its performance. The experimental results are shown that drive wheel position, orientation and velocity feedback control algorithm yields substantially smaller position and orientation errors than those of conventional methods.
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