대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)

대한전자공학회 (The Institute of Electronics and Information Engineers)
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전 방향 자율이동로봇의 최적 경로탐색 및 제어

Optimal Path Planning and Control of Omni-directional Autonomous Mobile Robot

  • 황종우 (동국대학교 전자공학과) ;
  • 이용구 (한림성심대학 의용정보과) ;
  • 이현관 (호남대학교 인터넷프로그램학과) ;
  • 엄기환 (동국대학교 전자공학과)
  • Hwang, Jong-Woo (Electronic Engineering, Dongguk University) ;
  • Lee, Yong-Gu (Department of Medical Instrument and Information, Hallym College) ;
  • Lee, Hyunk-Wan (Department of Internet Programming, Honam University) ;
  • Eom, Ki-Hwan (Electronic Engineering, Dongguk University)
  • 발행 : 2006.06.21
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초록

There are some difficulties to track an object with one-axis two-wheel drive method. When one-axis two-wheel drive robot wants to approach to the object, it should turn direction of the robot. At this time, direction of camera also would be changed. In this paper, we introduce omni-directional driving system that can move freely without turning the robot body, and propose the optimal approaching method.

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