Guidance Control of a Mobile Robot Using a Force Reflective Joystick

• 영문명: Guidance Control of a Mobile Robot Using a Force Reflective Joystick
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: J. B. Park B. H. Lee
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.3 No.3, 8~15쪽, 전체 8쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2002.10.01

영문 초록

  In this paper, a real-time guidance control method for a mobile robot is discussed. The method enables the operator to control the mobile robot without collisions. We propose a real-time environment modeling algorithm for obtaining obstacle information around the robot with ultrasonic sensors. We focus on the limitations of ultrasonic sensors, including noise sensitivity, poor directionality, and specular reflections, to obtain more accurate obstacle data. We also suggest a control algorithm for obstacle avoidance with obstacle information obtained from a sensor module. Wall and center following are implemented by a fuzzy logic controller. It is assumed that the operator can independently control the forward and angular velocities of the robot. The robot control algorithm produces reference inputs for the forward and angular velocities of the robot, and applies them into a force reflective joystick as reflective forces. Simulations are carried out to verify the performance of the proposed method.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. WHOLE SYSTEM CONFIGURATION
Ⅲ. GUIDANCE CONTROL OF A MOBILE ROBOT
Ⅳ. SIMULATION RESULTS
Ⅴ. CONCLUSIONS
ACKNOWLEDGEMENTS

키워드

Guidance control wall following center following fuzzy logic controller force reflective joystick reflective force