제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제10권9호
  • /
  • Pages.799-808
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  • 2004
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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동역학 기반의 지능 힘제어 방식을 이용한 이동 로봇의 장애물 회피에 대한 연구

Collision Avoidance of a Mobile Robot Using Intelligent Force Control Algorithm Based on Robot Dynamics

  • 장은수 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • 발행 : 2004.09.01
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초록

In this paper, a new collision avoidance algorithm based on the dynamic model of a mobile robot is proposed. In order to avoid obstacles on the path of a mobile robot, intelligent force control is used to regulate accurate distance between a robot and an obstacle. Since uncertainties from robot and environment dynamics degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties so that the collision avoidance can be performed intelligently. Simulation studies are conducted to confirm the proposed collision avoidance tracking control algorithm.

키워드

참고문헌

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