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Collision Avoidance of a Mobile Robot Using Intelligent Force Control Algorithm Based on Robot Dynamics

동역학 기반의 지능 힘제어 방식을 이용한 이동 로봇의 장애물 회피에 대한 연구

  • 장은수 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Published : 2004.09.01

Abstract

In this paper, a new collision avoidance algorithm based on the dynamic model of a mobile robot is proposed. In order to avoid obstacles on the path of a mobile robot, intelligent force control is used to regulate accurate distance between a robot and an obstacle. Since uncertainties from robot and environment dynamics degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties so that the collision avoidance can be performed intelligently. Simulation studies are conducted to confirm the proposed collision avoidance tracking control algorithm.

Keywords

References

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