한국전자통신학회논문지 (The Journal of the Korea institute of electronic communication sciences)

한국전자통신학회 (Korea Institute of Electronic Communication Science)
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ROS를 이용한 이동 로봇 제어 시스템 구현

An Implementation of the Control System of the Mobile Robot using ROS

  • 문용선 (순천대학교) ;
  • 노상현 (레드원테크놀러지) ;
  • 임승우 (동강대학교 전기에너지과) ;
  • 배영철 (전남대학교 전기.전자통신.컴퓨터 공학부)
  • 투고 : 2013.09.25
  • 심사 : 2013.11.15
  • 발행 : 2013.11.30
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초록

본 논문은 로봇 미들웨어 기술 중 ROS(Robot Operating System)를 이용하여 이동 로봇의 원격 제어 및 인공전위계를 이용한 충돌회피를 구현하였으며, 충돌회피 노드에 동적 재구성(dynamic reconfigure)을 적용하였다. 또한 ROS의 주된 목적인 공유와 협업에 맞게 LRF와 조이스틱과 같은 로봇에 자주 사용되는 하드웨어를 ROS에서 제공하는 노드로서 재사용하였다.

In this paper we implement collision avoidance using an artificial potential field and remote control of a mobile robot through ROS(Robot Operating System) among the robot's middleware. We also apply dynamic reconfigure to a node of collision avoidance. The main purposes of ROS are sharing and cooperation. In order to make to fit the purpose of ROS, the hardware that frequently is used in the robot such as LRF and joystick, were reused as node that provide in the ROS.

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참고문헌

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