대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

차륜형 이동로봇의 경로 계획과 자율 주행을 위한 하이브리드 시스템 모델과 제어

Hybrid System Modeling and Control for Path Planning and Autonomous Navigation of Wheeled Mobile Robots

  • 임미섭 (한양대 대학원 전자공학과) ;
  • 임준홍 (한양대 공대 전자·컴퓨터 공학부)
  • 발행 : 2000.01.01
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초록

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

키워드

참고문헌

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