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http://dx.doi.org/10.6109/JKIICE.2009.13.4.785

The Path Plan for Slip Reduction of Mobile Robot and Slip Compansation Method  

Eom, Ki-Hwan (동국대학교 전자공학과)
Kang, Seong-Ho ((주)마스터 연구소)
Jung, Kyung-Kwon (한림대학교 전자공학과)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.13, no.4, 2009 , pp. 785-796 More about this Journal
Abstract
In this paper, propose for mobile robot path planning and the reduction in sleep caused by a sleep history suggested a way to compensate for record sensor error. The proposed path plan reduces the robot slip to smooth a potential barrier in the potential field method, and compensates the tachometer error by robot slip using the fuzzy logic system. The efficiency of the proposed method is verified by means of simulations and experiments for path plan and slip revision.
Keywords
mobile robot; path plan; slip; potential field; fuzzy logic system;
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