한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제19권1호
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  • Pages.145-155
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  • 2010
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
권호 표지

초음파 및 적외선 센서 기반 자율 이동 로봇의 견실한 실시간 제어

Robust Real-time Control of Autonomous Mobile Robot Based on Ultrasonic and Infrared sensors

  • Nguyen, Van-Quyet (Dept. of Mechanical System Engineering, Graduate School, Kyungnam University) ;
  • Han, Sung-Hyun (Division of Mechanical System and Automation Engineering, Kyungnam University)
  • 발행 : 2010.02.15
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초록

This paper presents a new approach to obstacle avoidance for mobile robot in unknown or partially unknown environments. The method combines two navigation subsystems: low level and high level. The low level subsystem takes part in the control of linear, angular velocities using a multivariable PI controller, and the nonlinear position control. The high level subsystem uses ultrasonic and IR sensors to detect the unknown obstacle include static and dynamic obstacle. This approach provides both obstacle avoidance and target-following behaviors and uses only the local information for decision making for the next action. Also, we propose a new algorithm for the identification and solution of the local minima situation during the robot's traversal using the set of fuzzy rules. The system has been successfully demonstrated by simulations and experiments.

키워드

참고문헌

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