Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Study on Orientation and Position Control of Mobile Robot Based on Multi-Sensors Fusion for Implimentation of Smart FA

스마트팩토리 실현을 위한 다중센서기반 모바일로봇의 위치 및 자세제어에 관한 연구

  • Dong, G.H (Graudate school, Kyungnam university) ;
  • Kim, D.B. (Graudate school, Kyungnam university) ;
  • Kim, H.J (Graudate school, Kyungnam university) ;
  • Kim, S.H (Graudate school, Kyungnam university) ;
  • Baek, Y.T (Graudate school, Kyungnam university) ;
  • Han, S.H (Dept, of Mechanical Engineering, Kyungnam university)
  • Received : 2018.11.23
  • Accepted : 2019.03.12
  • Published : 2019.03.31
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Abstract

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.

Keywords

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Fig. 1 Schematic diagram of robot system

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Fig. 2 The path planning for obstacle avoidance of mobile robot

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Fig. 3 The path planning for obstacle avoidance in the side

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Fig. 4 The circuit of ultrasonic sensor

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Fig. 5 The receiver circuit of ultrasonic sensor

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Fig. 6 The flow chart of mobile robot travelling control based on sensors confusion

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Fig. 7 The integration receiver/transmitter network of ultrasonic sensor

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Fig. 8 Experiment Conditions for travelling Control of mobile robot

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Fig. 9 The experiment scene of travelling control for repeatability test

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Fig. 10 The experimental results from step 1 to step 10

Table 1. The specification of robot moving from step to step 10.

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