Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation of Hybrid System Controller for High-Speed Indoor Navigation of Mobile Robot System Using the Ultra-Sonic Sensors

초음파 센서를 이용한 이동 로봇 시스템의 고속 실내 주행을 위한 하이브리드 시스템 제어기의 구현

  • 임미섭 (경기공업대학 메카트로닉스과) ;
  • 임준홍 (한양대학교 전자컴퓨터공학부) ;
  • 오상록 (한국과학기술연구소 지능제어 연구센터) ;
  • 유범재 (한국과학기술연구소 지능제어 연구센터) ;
  • 윤인식 (경기공업대학 메카트로닉스과)
  • Published : 2001.09.01
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Abstract

In this paper, we propose a new approach to the autonomous and high-speed indoor navigation of wheeled mobile robots using hybrid system controller. The hierarchical structure of hybrid system presented consists of high-level reasoning process and the low-level motion control process and the environmental interaction. In a discrete event system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in the indoor navigation problem. For the evaluation of the proposed algorithm, the algorithm is implemented to the two-wheel driven mobile robot system. The experimental results show that the hybrid system approach is an effective method for the autonomous navigation in indoor environments.

Keywords

References

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