Journal of the Korean Society of Safety (한국안전학회지)

The Korean Society of Safety (한국안전학회)
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Safety Enhancement in Operation of Mobile Robots using Preview Control

예견제어를 이용한 이동로봇 운전의 안전성 향상

  • Yoon, Sang-Pil (Contents Convergence Research Center, Korea Electronics Technology Institute) ;
  • Choi, Gi Sang (Department of Electrical & Computer Engineering, University of Seoul)
  • Received : 2016.09.20
  • Accepted : 2017.02.13
  • Published : 2017.02.28
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Abstract

In industry AGV's(automated guided vehicles) that can detect and follow guidelines drawn on the factory floor using magnetic or optical sensors are widely used. However, such AGV's without preview capability cannot effectively avoid collision with obstacles that may occasionally pass through the guideline. Furthermore, without preview information, they consume much energy at the right angle corners as they have to make sudden directional change. Also, the risk of dropping payloads increases in such situations. In this study, infrared preview sensors were adopted to a mobile robot for detecting not only the current position but also the forward position of the guideline and the preview control technique was applied to optimally control the mobile robot's motion using the information from the infrared preview sensors. Then the effectiveness of this approach was investigated through a series of experiments. The experimental result shows that the proposed approach is effective for safety enhancement as well as for better efficiency.

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References

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