대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2001년도 하계학술대회 논문집 D
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- Pages.2473-2475
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- 2001
동특성을 고려한 이동로봇의 궤적제어
Path Tracking Control for Mobile Robot Considering Its Dynamics
- Ko, Kyung-Suk (Dept. of Electrical Eng. Pusan National Univ.) ;
- Lee, Min-Jung (Dept. of Electrical Eng. Pusan National Univ.) ;
- Choi, Young-Kiu (School of Electrical & Computer Eng. PNU.)
- 발행 : 2001.07.18
초록
In trajectory tracking methods, the error values of current position and velocity are compensated to follow the given reference path and velocity. The path tracking for a wheeled mobile robot is treated in this paper. It is very difficult to implement stable trajectory tracking algorithms because mobile robots have kinematically non-holonomic constraints. For solving this problem, a velocity controller is presented in this paper. This velocity controller is designed by a PID controller which could be easily employed. In this case, velocity errors caused by system uncertainties or internal and external disturbances could exist. A neural network is used for compensating the velocity errors. Input variables of this neural network compensator are defined by differences between the velocities of the posture controller and the real velocities of the mobile robot. Simulation results show the effectiveness of the proposed controller.
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