Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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The Method of Navigation-speed Processing for the Unlimited-track Mobile Robot

무한궤도 이동 로봇의 주행환경 처리 방법

  • Choi, Kwang-Sun (Dept. of Control & Instrumentation Eng., Chosun University) ;
  • Park, Ki-Doo (Dept. of Control & Instrumentation Eng., Chosun University) ;
  • Choi, Han-Soo (Dept. of Control & Instrumentation Eng., Chosun University)
  • 최광선 (조선대학교 제어계측공학과) ;
  • 박기두 (조선대학교 제어계측공학과) ;
  • 최한수 (조선대학교 제어계측공학과)
  • Published : 2001.07.18
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Abstract

The mobile robot is used as an instrument of transportation in automated plant. But the greater part of the moving method is the wheel-type. The wheel-type robot is easier control than the track-type, However the track-type is better than the wheel-type in bad landform(bend landform, an incline plane, stairs). In this paper, we propose the navigation algorithm of track-type robot in order to improve a defect of wheel-type. We experiment in bend landfrom and even ground to differentiate the navigation method. To estimate robot pose, we use the 80196 in a close distance and the vision-board in a long distance. Each data is managed in main PC and then the part of managing correspond to every sensor. We also use twelve supersonic wave-sensors to recognize external surroundings. As the result of experiment, we analyze the algorithm of control and make possible surroundings-adaptation.

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