Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Study on Real-Time Autonomous Travelling Control of Two-wheel Driving Robot Based Ultrasonic Sensors

초음파센서기반 2휠구동로봇의 실시간 자율주행제어에 관한연구

  • hwang, Won-Jun (Dept. of Advanced Engineering, Kyungnam University) ;
  • Park, In-Man (Dept. of Advanced Engineering, Kyungnam University) ;
  • Kang, Un-Wook (Dept. of Advanced Engineering, Kyungnam University) ;
  • Han, Sung-Hyun (School of Mechanical Engineering, Kyungnam University)
  • Received : 2014.07.04
  • Accepted : 2014.07.18
  • Published : 2014.08.31
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Abstract

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.

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