IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Design of Teleoperation System for Ackermann-steering Mobile Robot considering Driving Stability

애커먼 조향 이동로봇의 주행 안정성을 고려한 원격운용 시스템 설계

  • Received : 2021.09.06
  • Accepted : 2021.10.18
  • Published : 2022.04.30
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Abstract

This paper proposes a 2D joystick and LoRa-based teleoperation system for the Ackermman steering mobile robot. The proposed joystick mapping algorithm reduces the linear speed of the robot when the joystick is steered in the direction of the maximum steering angle in the high-speed driving state of a mobile robot to reduce the risk of rollover. The LoRa-based remote operation system is designed for remote operation of mobile robots that require long range communication with relatively little data transmission and low power. The proposed system is implemented and the experimental results demonstrate the effectiveness of the teleoperation system with respect to the stability of communication strength and the robot motion.

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Acknowledgement

본 연구는 금오공과대학교 학술연구비로 지원되었음 (202001160001).

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