제어로봇시스템학회:학술대회논문집
- 1992.10a
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- Pages.19-24
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- 1992
A control system for wheel-driven mobile robot
휠구동방식의 이동로봇을 위한 제어시스템 설계
Abstract
Real-time mobile robot controllers usually have been designed with an emphasis on control theory ignoring the importance of system integration. This paper demonstrates that useful mobile robots require a real time controller with a wide range of capabilities in addition to control theory. These capabilities include: path-planning, position estimation, path tracking control and wheel control. An architectural framework supporting these capabilities has been designed and implemented. Using this frame work, individual modules such as a path planner, a path tracking controller, position estimators, wheel controllers and other cruical elements have been successfully integrated into the control system for the LCAR robot which was developed as a proto-type mobile robot in our laboratory. The context of the research, the architecture, its implementation and performance results from experiments are discussed.
Keywords