• 대한전기학회논문지:시스템및제어부문D
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• 제49권1호
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• pp.33-40
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• 2000

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.319-324
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• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• International Journal of Automotive Technology
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• 제6권5호
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• pp.545-554
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• 2005

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified by behaviors in terms of a velocity field and the closed-loop was passive with respect to the supply rate given by the environment input. However, the PVFC was only applied to a single manipulator. The proposed control law was derived geometrically and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a virtual passivity-based algorithm to apply decentralized control to multiple 3­wheeled mobile robotic systems whose subsystems are under nonholonomic constraints and convey a common rigid object in a horizontal plain. Moreover, it is shown that multiple robot systems ensure stability and the velocities of augmented systems converge to a scaled multiple of each desired velocity field for cooperative mobile robot systems. Finally, the application of proposed virtual passivity-based decentralized algorithm via system augmentation is applied to trace a circle and the simulation results is presented in order to show effectiveness for the decentralized control algorithm proposed in this research.

• 한국산업정보학회논문지
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• 제24권5호
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• pp.121-127
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• 2019

본 논문에서는 물류창고, 제조업, 협업 로봇 등 다양한 애플리케이션에 활용되고 있는 비홀로노믹 제약을 가진 차동 바퀴형 모바일 로봇의 용이한 운용을 위한 로컬 속도 생성 제어 알고리즘을 제안한다. 기존의 차동 바퀴형 모바일 로봇 운용 방법은 운용자가 자신의 좌표계가 아닌 로봇의 좌표계를 기준으로 인지하고 로봇의 속도를 직접 생성해야 하였으며, 이로 인해 운용의 직관성이 낮아지고 업무의 효율 저하 및 사고 발생률이 증가하게 된다. 본 연구에서는 이를 개선하여 운용자가 자신의 좌표계를 기준으로 로봇을 운용할 수 있도록 한다. 제안하는 알고리즘은 실제 차동 바퀴형 모바일 로봇을 활용한 실험을 통하여 알고리즘의 효용성을 검증한다.