제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제6권7호
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  • Pages.586-593
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  • 2000
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

하이브리드 시스템의 기준동작 구성과 생성에 의한 차륜형 이동로봇의 자율 벽면-주행 알고리즘

Algorithm for Autonomous Wall-Following of Wheeled Mobile Robots Using Reference Motion Synthesis and Generation of Hybrid System

  • 임미섭 (한양대학교 전자공학과) ;
  • 임준홍 (한양대학교 전자컴퓨터공학부)
  • Lim, Mee-Seub (Dept. of Electronic Engineering, Hanyang University) ;
  • Im, Jun-Hong (Dept. of Electronic computer Engineering, Hanyang University)
  • 발행 : 2000.07.01
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초록

In this paper we propose a new approach to the autonomous wall-following of wheeled mobile robots using hybrid system reference motion synthesis and generation. The hybrid system approach is in-troduced to the motion control of nonholonomic mobile robots for the indoor navigation problems. In the dis-crete event system the discrete states are defined by the user-defined constraints and the reference mo-tion commands are specified in the abstracted motions. The hybrid control system applied for the non-holonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoid-ance for the indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation in indoor environments.

키워드

참고문헌

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