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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control Method of Mobile Robots for Avoiding Slip and Turnover on Sloped Terrain Using a Gyro/Vision Sensor Module

Gyro/Vision Sensor Module을 이용한 주행 로봇의 미끄러짐 및 넘어짐 회피 제어 기법

  • 이정희 (서울대학교 전기컴퓨터공학부) ;
  • 박재병 (서울대학교 전기컴퓨터공학부) ;
  • 이범희 (서울대학교 전기컴퓨터공학부)
  • Published : 2005.08.01
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Abstract

This acticle describes the control method of mobile robots for avoiding slip and turnover on sloped terrain. An inexpensive gyro/vision sensor module is suggested for obtaining the information of terrain at present and future. Using the terrain information and the robot state, the maximum limit velocity of the forward velocity of the robot is defined fur avoiding slip and turnover of the robot. Simultaneously the maximum value of the robot velocity is reflected to an operator in the form of reflective force on a forte feedback joystick. Consequently the operator can recognize the maximum velocity of the robot determined by the terrain information and the robot state. In this point of view, the inconsistency of the robot movement and the user's command caused by the limit velocity of the robot can be compensated by the reflective force. The experimenal results show the effectiveness of the suggested method.

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References

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