대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 하계학술대회 논문집 G
- /
- Pages.2348-2350
- /
- 1998
이동로봇의 동작 제어를 위한 하이브리드 시스템 제어에 관한 연구
Study on Hybrid Control for Motion Control of Mobile Robot Systems
- Lim, Mee-Seub (Dept. of Electronics, Hanyang University) ;
- Lim, Jin-Mo (Dept. of Electronics, Hanyang University) ;
- Lim, Joon-Hong (Dept. of Electronics, Hanyang University) ;
-
Oh, Sang-Rok
(Intelligent System Control Research Center, KIST)
- 발행 : 1998.07.20
초록
The hybrid control system for a wheeled mobile robot with nonholonomic constraints to perform a cluttered environment maneuver is proposed. The proposed hybrid control system consists of a continuous state system for the trajectory control, a discrete state system for the motion and orientation control, and an interface control system for the interaction process between the continuous dynamics and the discrete dynamics The continuous control systems are modeled by the switched systems with the control of driving wheels, and the digital automata for motion control are modeled and implemented by the abstracted motion of mobile robot. The motion control tasks such as path generation, motion planning, and trajectory control for a cluttered environment are investigated as the applications by simulation studies.
키워드