대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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- Pages.102-105
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- 2005
Mapping을 위한 자율이동로붓의 Wall Following 기법
A Wall-Following Method of Mobile Robot for Mapping
초록
A Effective wall following plays important role for the mapping behaviors which determine the entire memory size and the shape of map before building a map. In case of wall following, attacking those cause by curved wall or obstacles brings a bad stuff that makes ripples on the moving trajectory. These types of ripples come to an end with problems that increase the load of calculation and sensing errors. In this paper, a new sensing method and its corresponding controller are suggested for problems. It minimizes the occurrence of the trajectory ripples.