Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Design and Control of an Omni-directional Cleaning Robot Based on Landmarks

랜드마크 기반의 전방향 청소로봇 설계 및 제어

  • Kim, Dong Won (Department of Mechatronics Engineering, Chungnam National University) ;
  • Igor, Yugay (Department of Mechatronics Engineering, Chungnam National University) ;
  • Kang, Eun Seok (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 김동원 (충남대학교 메카트로닉스공학과) ;
  • 유이고르 (충남대학교 메카트로닉스공학과) ;
  • 강은석 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2013.01.11
  • Accepted : 2013.02.06
  • Published : 2013.04.25
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Abstract

This paper presents design and control of an 'Omni-directional Cleaning Robot (OdCR)' which employs omni-wheels at three edges of its triangular configuration. Those omni-wheels enable the OdCR to move in any directions so that lateral movement is possible. For OdCR to be localized, a StarGazer sensor is used to provide accurate position and heading angle based on landmarks on the ceiling. In addition to that, ultrasonic sensors are installed to detect obstacles around OdCR's way. Experimental studies are conducted to test the functionality of the system.

본 논문에서는 3개의 바퀴를 취하는 삼각형 구조의 전방향 청소로봇의 설계와 제어에 대해 소개한다. 시뮬레이션과 실험을 통해 제안하는 방법의 동작을 검증한다. 전방향 구조는 어느 방향으로 움직일 수 있다. 천장의 마커를 사용하는 StaGazer 센서를 사용하여 로봇의 위치와 헤딩각을 알아냈다. 추가로 초음파 센서를 부착하여 장애물을 검출할 수 있도록 하였다. 실험을 통해 시스템의 성능을 평가하였다.

Keywords

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