제어로봇시스템학회:학술대회논문집
- 2000.10a
- /
- Pages.441-441
- /
- 2000
Point Stabilization Scheme for the Car-Like Type Wheeled Mobile Robot
- Kim, Minchul (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical Engineering, Pohang University of Science & Technology(POSTECH)) ;
- Nakju Doh (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical Engineering, Pohang University of Science & Technology(POSTECH)) ;
- Wankyun Chung (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical Engineering, Pohang University of Science & Technology(POSTECH)) ;
- Youngil Youm (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical Engineering, Pohang University of Science & Technology(POSTECH))
- Published : 2000.10.01
Abstract
In wheeled mobile robot (WMR) research, point stabilization is one of the basic research issue. Point stabilization is to set mobile robot in desired position regardless of its orientation. In this paper, we propose a point stabilization scheme for car-like type WMR. We will define a new error states named as tangential error and nomal error. Then a heuristic control scheme will be suggested. The performance of these approach is verified via POSTUR-II.
Keywords