모바일 로봇 모션 제어에 있어 샘플링 시간의 효과 = Effects of the Sampling Time in Motion Controller Implementation for Mobile Robots

다국어 초록 (Multilingual Abstract)

In this research we investigate motion controller performance for mobile robots according to changes in the control loop sampling time. As a result, we suggest a proper range of the sample time, which can minimize final posture errors while improving tracking capability of the controller. For controller implementation into real mobile robots, we use a smooth and continuous motion controller, which can respect robot's path curvature limitation. We examine motion control performance in experimental tests while changing the control loop sampling time. Toward this goal, we compare and analyze experimental results using two different mobile robot platforms; one with real-time control and powerful hardware capability and the other with non-real-time control and limited hardware capability.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 컨트롤러 구조
• 3. 실험
• 4. 결론
• References

참고문헌 (Reference)

1 양길진, "물리적 제한을 고려한 두 바퀴 로봇의 관절 공간 궤적 생성 방법" 제어·로봇·시스템학회 19 (19): 540-546, 2013

2 김진환, "모바일 로봇의 경로 추종 제어" 대한전자공학회 46 (46): 73-77, 2009

3 Wu, W., "Simulation of Mobile Welding Robot with Variable Structure Control. in Innovative Computing and Communication" 106-109, 2010

4 설남오, "SLAM과 수동성 이론을 이용한 모바일 로봇 제어" 한국엔터테인먼트산업학회 7 (7): 1-7, 2013

5 Flickinger, D.M., "Remote Low Frequency State Feedback Kinematic Motion Control for Mobile Robot Trajectory Tracking" 3502-3507, 2007

6 Kim, Y., "Path manifold-based kinematic control of wheeled mobile robots considering physical constraints" 26 (26): 955-975, 2007

7 Lenain, R., "Off-road mobile robots control : An accurate and stable adaptive approach" 1-6, 2012

8 Otsuka, A., "Measurement of dynamic sampling period of multi mobile robots system with wireless communication" 1141-1146, 2013

9 Son, J.B., "A Study on path planning of an intelligent autonomous mobile robot control using fuzzy control"

10 Ko, N.Y., "A Probabilistic Approach to Grid-Map Generation for Autonomous Navigation of a Mobile Robot"