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무궤도 이동 로보트의 설계 및 주행오차 보정에 관한 연구
유익주(Ik Joo Yoo),이병도(Byong Do Lee),김동준(Dong Jun Kim),박성종(Sung Jong Park),김갑일(Kab Il Kim) 대한공업교육학회 1998 대한공업교육학회지 Vol.23 No.1
In this paper, design and construction of mobile robot are conducted and the error reduction and obstacle avoidance techniques are introduced. Up to now, in the design of most mobile robots, there is emphasis on the compensation of tracking errors using the additional sensors and guidance method, rather than the reduction of the tracking errors of motor itself and wheel errors. In this purpose, high performance motor and encoder are used for the driving actuator, and the acceleration/deceleration technique and caster encoder are introduced to reduce the driving errors. Also ultrasonic sensor performs obstacle avoidance, which is proved using the driving test.
무궤도 이동 로보트의 설계 및 주행오차 보정에 관한 연구
김갑일,김동준,이병도,유익주 明知大學校 産業技術硏究所 1995 産業技術硏究所論文集 Vol.14 No.-
In this paper, design and construction of mobile robot are conducted and the error reduction and obstacle avoidance techniques are introduced. Up to now, in the design of most mobile robots, there is emphasis on the compensation of tracking errors using the additional sensors and guidance method, rather than the reduction of the tracking errors of motor itself and wheel errors. In this purpose, high performance motor and encoder are used for the driving actuator, and the acceleration/deceleration technique and caster encoder are introduced to reduced the driving errors. Also ultrasonic sensor performs obstacle avoidance, which is proved using the driving test.