Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1992.07a
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- Pages.374-376
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- 1992
A Stable Locomotion Control Method for an Autonomous Mobile Robot
자율 이동 로보트를 위한 안정한 주행 제어 방법
- Shim, Hyun-Sik (Dept. of Elec. Eng., KAIST) ;
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Kim, Jong-Hwan
(Dept. of Elec. Eng., KAIST)
- Published : 1992.07.23
Abstract
This paper proposes a stable locomotion control rule for non-holonomic mobile robot. Stability of the rule is proved through the use of a Liapunov function. We have two controller for locomotion control. One is velocity controller, the other is position controller. The proposed controller is position controller whose input to robot are a reference posture and reference velocities. The major objective of this paper is to propose a control rule to find a reasonable velocity command under a assumption which is velocity controller is ideal controller.
Keywords