Ocean and Polar Research

  • 제36권4호
  • /
  • Pages.465-473
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  • 2014
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  • 1598-141X(pISSN)
  • /
  • 2234-7313(eISSN)
한국해양과학기술원 (Korea Institute of Ocean Science & Technology)
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다중 집광로봇의 수평대형유지를 위한 기초 알고리즘 연구

Basic Control Algorithm for Parallel Formation of Multi-mining Robots

  • 윤석민 (한국해양과학기술원 부설 선박해양플랜트연구소) ;
  • 여태경 (한국해양과학기술원 부설 선박해양플랜트연구소) ;
  • 홍섭 (한국해양과학기술원 부설 선박해양플랜트연구소) ;
  • 김상봉 (부경대학교 공과대학 기계자동차공학과)
  • Yoon, Suk-Min (Korea Research Institute of Ships & Ocean Engineering, KIOST) ;
  • Yeu, Tae-Kyeong (Korea Research Institute of Ships & Ocean Engineering, KIOST) ;
  • Hong, Sup (Korea Research Institute of Ships & Ocean Engineering, KIOST) ;
  • Kim, Sang-Bong (Department of Mechanical Automotive Engineering, College of Engineering, Pukyong National University)
  • 투고 : 2014.10.06
  • 심사 : 2014.11.25
  • 발행 : 2014.12.30
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초록

This paper proposes a formation control method by which multi-mining robots maintain a specified formation and follow a path. To secure the path tracking performance, a pure-pursuit algorithm is considered for each individual robot, and to minimize the deviation from the reference path, speed reduction in the steering motion is added. For the formation, in which two robots are parallel in a lateral direction, the robots track the specified path at a constant distance. In this way, the Leader-Follower method is adopted and the following robot knows the position and heading angle of the leader robot. Through the experimental test using two ground vehicle models, the performance is verified.

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참고문헌

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