가변트랙형 주행로봇의 장애물 탐지와 주행모드제어

Obstacle Detection and Driving Mode Control for a Mobile Robot with Variable Single-tracked Mechanism

  • 최근하 (한국과학기술원 기계항공시스템학부 기계공학) ;
  • 정해관 (한국과학기술원 기계항공시스템학부 기계공학) ;
  • 현경학 (한국과학기술원 기계항공시스템학부 기계공학) ;
  • 곽윤근 (한국과학기술원 기계항공시스템학부)
  • 발행 : 2008.02.01

초록

In this paper, we propose a new driving mode control algorithm for a mobile robot based on obstacle detection. The robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and puesue a stable system due to the lower center of gravity. However this robot system embodied passive type according to operator. In this reason, several problems are detected. So, this research presents a new method of obstacle detection using PSD infrared sensors and translates the variable tracks on the best suited driving mode actively. And experimental results about mentioned are presented.

키워드

참고문헌

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