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http://dx.doi.org/10.13067/JKIECS.2011.6.5.765

Moving Object Following Control for Differential Drive Robot Based on Two Distance Sensors  

Seo, Dong-Jin (전자부품연구원 지능로보틱스 연구센터)
Noh, Sung-Woo (조선대학교 제어계측로봇공학과)
Ko, Nak-Yong (조선대학교 제어계측로봇공학과)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.6, no.5, 2011 , pp. 765-773 More about this Journal
Abstract
This paper proposes a control method for a differential robot to track and follow a moving object based on ultrasonic sensor. To track a target object, the method uses a transmitter and two receivers to get distances from the object. The method derives translational and rotational error by the distances and then it uses the errors to calculate control values based on PID control method. The control values are used to control the robot to follow moving object. The authors do some experimentations to analyze some characteristics such as influence of PID gain, influence of translational and rotational gain. This method not only can be applied for following moving object problem but also can be done group unit control problems.
Keywords
Object Following; Differential Drive Robot; Distance Sensor;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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