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Effects of the Sampling Time in Motion Controller Implementation for Mobile Robots

모바일 로봇 모션 제어에 있어 샘플링 시간의 효과

  • Jang, Tae-Ho (Department of Mechanical Engineering, Hanbat National University) ;
  • Kim, Youngshik (Department of Mechanical Engineering, Hanbat National University)
  • Received : 2014.09.02
  • Accepted : 2014.09.24
  • Published : 2014.12.31

Abstract

In this research we investigate motion controller performance for mobile robots according to changes in the control loop sampling time. As a result, we suggest a proper range of the sample time, which can minimize final posture errors while improving tracking capability of the controller. For controller implementation into real mobile robots, we use a smooth and continuous motion controller, which can respect robot's path curvature limitation. We examine motion control performance in experimental tests while changing the control loop sampling time. Toward this goal, we compare and analyze experimental results using two different mobile robot platforms; one with real-time control and powerful hardware capability and the other with non-real-time control and limited hardware capability.

Keywords

References

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